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GeoFF3D: Coordinate-Anchored Feed-Forward Reconstruction for Large-Scale UAV Mapping

arXiv · AI, language, vision and robotics · article · Aug 28, 2026 · UTC

Existing feed-forward 3D reconstruction methods typically process a bounded number of images and recover cameras and geometry in local or internally normalized frames. Extending them to large-scale UAV mapping requires scalable multi-chunk processing and reliable aggregation, while full Sim(3) alignment can become unstable for near collinear trajectories. We present GeoFF3D, which combines a coordinate-anchored model with a spatial large-scale reconstruction framework (SLRF). The model uses georeferenced camera translations and optional geometric priors to predict camera poses and dense point

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