AI RESEARCH
MCGS-SLAM: A Multi-Camera SLAM Framework Using Gaussian Splatting for High-Fidelity Mapping
arXiv CS.CV
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ArXi:2509.14191v3 Announce Type: replace-cross 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.