What VGGT Knows About Overlap: Probing Geometric Foundation Models for Co-Visibility
A fundamental challenge in 3D reconstruction and robotic localization is co-visibility: determining which image pairs share overlapping visible surfaces, particularly in scenarios with minimal overlap. We demonstrate that VGGT implicitly encodes co-visibility as an emergent behavior: without any supervision for this task, its internal representations exhibit a clear hierarchical structure mirroring that of large language models, i.e. early layers build a 3D-aware scene representation, while late layers act as dedicated co-visibility reasoners. In particular, we identify layer L17 as a negative anchor that consistently routes non-co-visible pairs for this backbone, regardless of the evalua...
| Authors | Filippo Ziliotto, Luciano Serafini, Lamberto Ballan et al. |
|---|---|
| Primary category | cs.CV |
| Published | 10 July 2026 |
| Last updated at source | 10 July 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.