SOURCE-LINKED INTELLIGENCE
CGS-SLAM: Collaborative Gaussian Splatting based SLAM for Multi-Agent Reconstruction
Recent advances in SLAM have leveraged 3DGS for photorealistic reconstruction and novel view synthesis. However, most methods rely on RGB-D input, which is unavailable on consumer-grade smartphones, and few integrate 3DGS within a collaborative framework. Therefore, we present CGS-SLAM, a hybrid decentralized/centralized system enabling multi-agent 3DGS SLAM using only RGB and inertial data. Each agent performs local tracking with inertial data as a motion prior and reconstructs a scaled map using a metric monocular depth estimator (Depth Pro). Keyframe encodings are shared among agents, enabl
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-08-27T09:31:18.000Z
First collected: 2026-09-21T08:51:59.673Z. This is not the publication date.