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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Peliculas De Tom Y Jerry En Espanol Completas May 2026

He bought the tapes for one euro.

That night, alone in his silent apartment, Carlos dusted off his old VCR. He slid the first tape in. The screen flickered, and then — the classic MGM lion roared, followed by the familiar trumpet intro. But this time, the narrator’s voice was warm and crisp in Spanish: “Tom y Jerry, en su más divertida aventura…” peliculas de tom y jerry en espanol completas

And Carlos whispered back, “Siempre, Elena.” He bought the tapes for one euro

Carlos held the note to his chest, tears streaming, but smiling. On the screen, the final frame of the cartoon showed Tom and Jerry sitting together on a log, watching a sunset. The screen flickered, and then — the classic

Carlos smiled. As a child in the 1960s, he had watched Tom y Jerry every Saturday morning on a tiny black-and-white TV. The Spanish dub — with Tom’s dramatic “¡Ay, caramba!” and Jerry’s squeaky “¡Toma eso!” — was the soundtrack of his childhood. His late wife, Elena, used to laugh until tears rolled down her cheeks when Tom got flattened by an iron.

In Spanish, Jerry whispered: “¿Amigos?” Tom nodded: “Siempre.”

In a dusty, forgotten corner of Madrid, inside a small tienda de segunda mano , 72-year-old Carlos stumbled upon a box of old VHS tapes. The label on the box, handwritten in fading marker, read: “PELÍCULAS DE TOM Y JERRY EN ESPAÑOL — COMPLETAS” .

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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