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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Ps1 Roms Highly Compressed -

| Game | Original BIN/CUE Size | CHD Size | Compression | | :--- | :--- | :--- | :--- | | Crash Bandicoot 3 | 650 MB | ~210 MB | 68% saved | | Gran Turismo 2 | 1.2 GB (2 discs) | ~380 MB | 68% saved | | Final Fantasy VII | 2.1 GB (3 discs) | ~700 MB | 66% saved |

: A less common but occasionally used compressed ISO format. "Highly Compressed" vs. "Ripped" ROMs

: Originally designed for playing PS1 games on the PSP, this format is excellent for multi-disc games (like Final Fantasy VII ) because it merges all discs into a single file. ECM (Error Code Modeler)

: This tool is the standard for converting PS1 ROMs into the .pbp (EBOOT) format.

Ding.

Best for low-end devices; removes FMVs to keep the file size tiny. Quick Tips: Use 7-Zip for the best extraction ratios.

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

| Game | Original BIN/CUE Size | CHD Size | Compression | | :--- | :--- | :--- | :--- | | Crash Bandicoot 3 | 650 MB | ~210 MB | 68% saved | | Gran Turismo 2 | 1.2 GB (2 discs) | ~380 MB | 68% saved | | Final Fantasy VII | 2.1 GB (3 discs) | ~700 MB | 66% saved |

: A less common but occasionally used compressed ISO format. "Highly Compressed" vs. "Ripped" ROMs Ps1 Roms Highly Compressed

: Originally designed for playing PS1 games on the PSP, this format is excellent for multi-disc games (like Final Fantasy VII ) because it merges all discs into a single file. ECM (Error Code Modeler) | Game | Original BIN/CUE Size | CHD

: This tool is the standard for converting PS1 ROMs into the .pbp (EBOOT) format. ECM (Error Code Modeler) : This tool is

Ding.

Best for low-end devices; removes FMVs to keep the file size tiny. Quick Tips: Use 7-Zip for the best extraction ratios.

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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