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

• URL: http://arxiv.org/abs/2509.14191v1
• Date: Wed, 17 Sep 2025 17:27:53 GMT
• Title: MCGS-SLAM: A Multi-Camera SLAM Framework Using Gaussian Splatting for High-Fidelity Mapping
• Authors: Zhihao Cao, Hanyu Wu, Li Wa Tang, Zizhou Luo, Zihan Zhu, Wei Zhang, Marc Pollefeys, Martin R. Oswald,
• Abstract summary: We present MCGS-SLAM, the first purely RGB-based multi-camera SLAM system built on 3D Gaussian Splatting (3DGS)<n>A multi-camera bundle adjustment (MCBA) jointly refines poses and depths via dense photometric and geometric residuals, while a scale consistency module enforces metric alignment across views.<n>Experiments on synthetic and real-world datasets show that MCGS-SLAM consistently yields accurate trajectories and photorealistic reconstructions.
• Score: 52.99503784067417
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Recent progress in dense SLAM has primarily targeted monocular setups, often at the expense of robustness and geometric coverage. We present MCGS-SLAM, the first purely RGB-based multi-camera SLAM system built on 3D Gaussian Splatting (3DGS). Unlike prior methods relying on sparse maps or inertial data, MCGS-SLAM fuses dense RGB inputs from multiple viewpoints into a unified, continuously optimized Gaussian map. A multi-camera bundle adjustment (MCBA) jointly refines poses and depths via dense photometric and geometric residuals, while a scale consistency module enforces metric alignment across views using low-rank priors. The system supports RGB input and maintains real-time performance at large scale. Experiments on synthetic and real-world datasets show that MCGS-SLAM consistently yields accurate trajectories and photorealistic reconstructions, usually outperforming monocular baselines. Notably, the wide field of view from multi-camera input enables reconstruction of side-view regions that monocular setups miss, critical for safe autonomous operation. These results highlight the promise of multi-camera Gaussian Splatting SLAM for high-fidelity mapping in robotics and autonomous driving.

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