Triangulation-Free Bundle Adjustment with Graduated Non-Convexity for Camera Pose Refinement from Coarse Priors
Mobile AR frameworks attach a metric pose prior to every casual phone capture, and turning it into reconstruction-grade poses cheaply on CPU is the step before novel-view synthesis. The least a refiner owes an accurate prior is not to make it worse. The workhorse refiner does. On 15 ScanNet++ iPhone room captures, COLMAP triangulation plus prior-seeded bundle adjustment degrades an accurate ARKit prior in all 15, 0.55 degrees to 0.74 degrees by scene-mean. The cause is the seeding. Structure is triangulated from the prior before anything is optimized, so the prior's error is baked into the structure the optimizer trusts. We remove the triangulation. Every keypoint owns a scalar depth alon...
| Authors | Nikolaos Kyriazis |
|---|---|
| Primary category | cs.CV |
| Published | 21 August 2026 |
| Last updated at source | 21 August 2026 |
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