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camera calibration 1dense image matching 1monocular depth priors 1slam integration 1video structure-from-motion 1

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20242026
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cs.RO2026

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

Zhihao Cao, Hanyu Wu, Li Wa Tang +5

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 m…