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Efficient and Robust Camera-independent Multiview 3D Geometric Reconstruction from Noisy Monocular Depth Estimation and Multiple Point Matching

arXiv · AI, language, vision and robotics · article · Sep 5, 2026 · UTC

We present an efficient and robust method for 3D geometric reconstruction that is based solely on the camera-independent linear relationships among a given set of points, which are stable over time and robustly estimated using multiple point matches. We essentially learn, from correspondences between points across several frames, a linear geometric auto-regression matrix $\mathbf{W}$, which establishes how a point in 3D can be expressed as a linear combination of all the others. This matrix is constant and does not depend on the world coordinate system or the camera pose---it is an intrinsic p

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