MAGiC-SLAM: Multi-Agent Gaussian Globally Consistent SLAM

Figure 1 . MAGiC-SLAM is a multi-agent SLAM method capable of novel view synthesis. Given single-camera RGBD input streams from multiple simultaneously operating agents MAGiC-SLAM estimates their trajectories and reconstructs a 3D Gaussian map that can be rendered from previously unseen viewpoints. We showcase the high-fidelity 3D Gaussian map of a real-world environment alongside multiple agent trajectories (depicted in green, yellow, and blue) within it. Our method effectively utilizes information from multiple agents to achieve centimeter-level tracking accuracy. Our mapping and map merging strategies allow for realistic rendering of color and depth, significantly improving the state of the art. Unlike previous methods, MAGiC-SLAM is flexible in the number of agents it can handle.