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, enabling dynamic keyframing in regions of spatial overlaps with other agents, enhancing submap alignme...
| Authors | Jean-Daniel de Ambrogi, Aladine Chetouani, Vincent Nguyen et al. |
|---|---|
| Primary category | cs.CV |
| Published | 27 August 2026 |
| Last updated at source | 27 August 2026 |
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