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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: Offers a DRM-free version that includes an offline installer. It provides both the original and the "Quake Enhanced" versions. Shareware Version : You can legally download the shareware edition (e.g., quake106.zip . This version only includes Episode 1;

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

Guide :: Quake Owner's Manual - Steam Community

A Quake PAK file is nothing more than a concatenated lump of game assets with a tiny index at the end. Open one in a hex editor and you’ll see: quake 1 pak files download verified

: Offers a DRM-free version that includes an offline installer. It provides both the original and the "Quake Enhanced" versions. Shareware Version : You can legally download the shareware edition (e.g., quake106.zip . This version only includes Episode 1; Guide :: Quake Owner's Manual - Steam Community

The search for "quake 1 pak files download verified" is a fool's errand. The few links that exist on archive.org or obscure FTP servers are often packed with adware or, worse, tampered with to give wallhacks in multiplayer matches. Shareware Version : You can legally download the

. These contain all the original game assets like maps, textures, and sounds. 1. Acquiring Verified PAK Files

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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