Our method performs real-time SLAM by fusing synchronized inputs from a multi-camera rig into a unified 3D Gaussian map. It first selects keyframes and estimates depth and normal maps for each camera, then jointly optimizes poses and depths via multi-camera bundle adjustment and scale-consistent depth alignment. Refined keyframes are fused into a dense Gaussian map using differentiable rasterization, interleaved with densification and pruning. An optional offline stage further refines camera trajectories and map quality. The system supports RGB inputs, enabling accurate tracking and photorealistic reconstruction.
To properly install the update, follow these steps to ensure your save data remains intact and the game runs correctly:
: After the installation is complete, open the folder named CODEX inside the extracted update folder. Copy all files from this folder and paste them into your game’s install directory, overwriting any existing files when prompted.
To properly install the update, follow these steps to ensure your save data remains intact and the game runs correctly:
: After the installation is complete, open the folder named CODEX inside the extracted update folder. Copy all files from this folder and paste them into your game’s install directory, overwriting any existing files when prompted.
