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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Euro Truck Simulator 2 Money Mod 1.40 Apr 2026

The Money Mod 1.40 is a modification for Euro Truck Simulator 2 that changes the game's financial system, allowing players to earn more money and access higher-paying jobs. The mod is designed for version 1.40 of the game and is compatible with other mods. The modding community for ETS2 is active, with many players creating and sharing their own mods to enhance gameplay.

Euro Truck Simulator 2 (ETS2) is a popular simulation video game developed by SCS Software. The game allows players to drive trucks across Europe, delivering goods and managing their own transportation company. One of the key aspects of the game is managing finances, as players need to balance their expenses with their earnings. However, for some players, the game's financial system can be restrictive, leading to the use of mods that alter the game's economy. This paper will examine the Money Mod 1.40 for Euro Truck Simulator 2, a popular mod that alters the game's financial system. euro truck simulator 2 money mod 1.40

The Money Mod 1.40 for Euro Truck Simulator 2 is a popular modification that alters the game's financial system. By increasing earnings, adding higher-paying jobs, and adjusting expense rates, the mod can improve financial stability, increase accessibility, and change gameplay dynamics. However, it is essential to note that using mods can also have risks, such as compatibility issues or game instability. As the modding community for ETS2 continues to grow, it will be interesting to see how mods like the Money Mod 1.40 shape the gameplay experience. The Money Mod 1

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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