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Seeing the World and the Self from Egocentric Video

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

Complete 3D perception from egocentric video requires recovering the surrounding scene and the wearer's full-body motion in a shared metric frame. Existing methods typically address scene reconstruction and motion estimation separately: scene reconstruction methods ignore the wearer, whereas motion estimation methods lack explicit scene geometry and often depend on external trajectories. Joint recovery is challenging because the two tasks exhibit asymmetric visibility and require different prediction paradigms. The largely visible scene supports deterministic geometric regression, whereas the

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