CGS-SLAM: Collaborative Gaussian Splatting based SLAM for Multi-Agent Reconstruction

CGS‑SLAM is a hybrid decentralized/centralized SLAM system that enables multi‑agent 3D Gaussian Splatting reconstruction using only RGB images and inertial data. Each agent locally tracks motion with inertial priors, builds a scaled map via a monocular depth estimator, and shares keyframe encodings to facilitate dynamic keyframing and submap alignment. A central server then aligns submaps with a view‑alignment model, keeping communication costs low while achieving competitive tracking, higher rendering quality, and accurate submap alignment in GNSS‑denied environments.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv Computer Vision.

• agents
• benchmarks
• safety