MCGS-SLAM

A Multi-Camera SLAM Framework Using Gaussian Splatting for High-Fidelity Mapping

Anonymous Author
Code and data [Available Upon Acceptance]

SLAM System Pipeline

Our method performs real-time SLAM by fusing synchronized inputs from a multi-camera rig into a unified 3D Gaussian map. It first selects keyframes and estimates depth and normal maps for each camera, then jointly optimizes poses and depths via multi-camera bundle adjustment and scale-consistent depth alignment. Refined keyframes are fused into a dense Gaussian map using differentiable rasterization, interleaved with densification and pruning. An optional offline stage further refines camera trajectories and map quality. The system supports RGB inputs, enabling accurate tracking and photorealistic reconstruction.

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Analysis of Single-Camera and Multi-Camera System

This experiment on the Waymo Open Dataset (Real World) demonstrates the effectiveness of our Multi-Camera Gaussian Splatting SLAM system. We evaluate the 3D mapping performance using three individual cameras, Front, Front-Left, and Front-Right, and compare these single-camera reconstructions against the Multi-Camera SLAM results.

The comparison highlights that the Multi-Camera SLAM leverages complementary viewpoints, providing more complete and geometrically consistent 3D reconstructions. In contrast, single-camera setups are prone to occlusions and limited fields of view, resulting in incomplete or distorted geometry. Our approach effectively fuses information from all three perspectives, achieving superior scene coverage and depth accuracy.

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Kwntr-bab-alharh May 2026

I should also consider that the user might be asking about a specific place they visited or heard about but misspelled. If that's the case, offering to look up a corrected term or more details would be helpful.

"Kwntr" might be "country" in Arabic. Then "bab" means "door" or "gate," and "alharh" could be "al-harh" which might relate to "harh" meaning a type of traditional architecture or gate. So putting it together, maybe it's "Country Gate" or "National Gate." Alternatively, it could be the name of a specific place, like a historical site or monument. kwntr-bab-alharh

I should check if there are any famous landmarks with a similar name. Maybe there's a country gate in the Arab world. Alternatively, the user might have misspelled the term. For example, "Harh" could be part of a name with a different spelling. Maybe "Al-Haram" Gate? But that's a stretch. I should also consider that the user might

In the report, I'll outline the possible meanings, the breakdown of the term, and suggest that without more context, it's challenging to provide accurate information. I'll also invite the user to provide corrections or additional details to tailor the report correctly. Then "bab" means "door" or "gate," and "alharh"

If I can't find a direct reference, I should explain the possible components of the name and discuss common names and historical structures in Arabic-speaking regions. For example, gates named Bab al-... are common, like the Gates of Damascus. Maybe it's a local architectural feature. Alternatively, it might be a name in a different language.

Analysis of Single-Camera and Multi-Camera SLAM (Tracking)

In this section, we benchmark tracking accuracy across eight driving sequences from the Waymo dataset (Real World). MCGS-SLAM achieves the lowest average ATE, significantly outperforming single-camera methods.
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We further evaluate tracking on four sequences from the Oxford Spires dataset (Real World). MCGS-SLAM consistently yields the best performance, demonstrating robust trajectory estimation in large-scale outdoor environments.
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