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.

Right Image

Fiи™ier: Mortal.kombat.4.v2.1.zip ... -

For further technical assistance or move lists, comprehensive guides are available on platforms like GameFAQs .

: The signature "Fatality" finishers were updated for the 3D engine. While many were 3D versions of classic moves, the game included two fatalities per character and various stage-specific finishers. Secret Content and Unlockables

and as noted by Skytech Gaming —MK4 remains accessible for low-end hardware, preserving its status as a staple of late-90s fighting game culture.

This paper examines , specifically focusing on the legacy and mechanics found in version 2.1, often distributed in archives like "Mortal.Kombat.4.v2.1.zip." Released as the series' first foray into 3D, MK4 represents a pivotal transition in the franchise’s history. Historical Context and Evolution

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

For further technical assistance or move lists, comprehensive guides are available on platforms like GameFAQs .

: The signature "Fatality" finishers were updated for the 3D engine. While many were 3D versions of classic moves, the game included two fatalities per character and various stage-specific finishers. Secret Content and Unlockables FiИ™ier: Mortal.Kombat.4.v2.1.zip ...

and as noted by Skytech Gaming —MK4 remains accessible for low-end hardware, preserving its status as a staple of late-90s fighting game culture. FiИ™ier: Mortal.Kombat.4.v2.1.zip ...

This paper examines , specifically focusing on the legacy and mechanics found in version 2.1, often distributed in archives like "Mortal.Kombat.4.v2.1.zip." Released as the series' first foray into 3D, MK4 represents a pivotal transition in the franchise’s history. Historical Context and Evolution FiИ™ier: Mortal.Kombat.4.v2.1.zip ...

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.
Right Image

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.
Right Image

Right Image