CGS-SLAM: Collaborative Gaussian Splatting SLAM for Multi-Agent Reconstruction
zhenjun_zhao · x · 2026-08-28
Introduces CGS-SLAM, a collaborative multi-agent SLAM system based on 3D Gaussian Splatting. It uses a hybrid architecture where agents utilize RGB and inertial data with Depth Pro for metric depth estimation. Keyframe encodings are shared for dynamic keyframing, and a central server aligns submaps using VGGT. Experiments show competitive tracking and improved rendering quality in GNSS-denied environments.
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