SOURCE-LINKED INTELLIGENCE

VI3: Grounding Pretrained 3D Foundation Models with Inertial Cues

arXiv · AI, language, vision and robotics · article · Sep 3, 2026 · UTC

3D foundation models (3DFMs) excel at predicting camera poses and dense depth from multiple views of a scene, showcasing strong zero-shot generalization. However, as metric scale is not observable from monocular images, their absolute scale predictions are typically inaccurate. Inertial measurement units (IMUs), present in most devices, naturally complement monocular cameras by observing scaled motion. We introduce VI3, a model-agnostic framework that metrically anchors a pretrained 3DFM using only IMU readings. VI3 initializes and preintegrates the IMU to obtain a metric motion reference, whi

Read original source ↗ Open in workspace

recordType

paper

region

Global