Scal3R: Learning Efficient Multi-Relative Pose Query for Scalable Online 3D Reconstruction

Paper recorded by Signals 4 on 2026-09-03 in cs.CV. Abstract reproduced from arXiv; link to the original below.

Published 2026-09-03 on arXiv · recorded by Signals 4 on 2026-09-04

Category: cs.CV · 计算机视觉 · first seen 2026-09-04

Abstract

Online 3D reconstruction models perform poorly on long videos. This happens because regressing poses relative to a fixed first-frame anchor forces extrapolation far beyond the training distribution. Small drifts accumulate and amplify into significant geometric collapse. However, we observe that per-frame depth remains stable throughout this failure. The backbone's local geometry remains intact; o

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