Anchor3R: Streaming 3D Reconstruction with Transient Anchors for Long-Horizon Visual Mapping
Long-horizon online visual mapping requires continuous camera-motion and scene-geometry estimation under bounded computation. Recent feed-forward 3D reconstruction models provide strong geometric priors, but streaming variants often predict poses in a fixed or historically maintained coordinate system, leading to train--test mismatch, early-anchor attention bias, and accumulated drift. We propose \emph{Anchor3R}, a current-centric streaming 3D reconstruction framework that predicts window-relative poses and local geometry in the current-frame coordinate system. Overlapping predictions form a dense relative-pose graph, supporting online pose updates and loop-aware motion averaging for glob...
| Authors | Peilin Tao, Chong Cheng, Yuansen Du et al. |
|---|---|
| Primary category | cs.CV |
| Published | 3 June 2026 |
| Last updated at source | 14 September 2026 |
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