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.
nest generate module module-name To create a new provider (service), run the following command:
nest generate controller controller-name In the controller file, you can define routes using the @Get() , @Post() , @Put() , and @Delete() decorators.
You can consider this guide as a free downloadable course. Simply copy and paste the content into a document or note-taking app, and you're good to go!
nest generate module module-name To create a new provider (service), run the following command:
nest generate controller controller-name In the controller file, you can define routes using the @Get() , @Post() , @Put() , and @Delete() decorators.
You can consider this guide as a free downloadable course. Simply copy and paste the content into a document or note-taking app, and you're good to go!
