Geometry-Grounded Unified 3D Perception for Autonomous Driving
Camera-based autonomous driving perception requires a shared representation that preserves metric 3D structure across synchronized multi-camera streams. However, existing image-based frameworks often rely on backbones pretrained for semantic recognition, and introduce 3D geometry through downstream task-specific modules. As a result, their shared representations may fail to preserve explicit metric geometry and consistent 3D scene structure. In this paper, we present a Geometry-grounded Unified 3D Perception (GeoUP) framework that adapts the reconstruction-oriented latent of VGGT to calibrated, streaming multi-camera driving scenes. GeoUP factorizes cross-image interaction into self, temp...
| Authors | Longfei Xu, Xiaohui Wang, Zehao Huang et al. |
|---|---|
| Primary category | cs.CV |
| Published | 13 August 2026 |
| Last updated at source | 31 August 2026 |
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