SOURCE-LINKED INTELLIGENCE
Scal3R: Learning Efficient Multi-Relative Pose Query for Scalable Online 3D Reconstruction
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; only the global pose head breaks down. Motivated by this decoupling, we introduce Scal3R. This approach reformulates online reconstruction as multi-reference relative pose querying. We use lightweight
Read original source ↗ Open in workspace
- recordType
- paper
- region
- Global
Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-03T17:59:53.000Z
First collected: 2026-09-21T04:31:57.454Z. This is not the publication date.