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arXiv Computer Vision By Zunnan Xu, Shangchen Zhou, Yihang Luo, Chen Change Loy

HiP3R: Hierarchical Pose Graphs for Long-Horizon 3D Reconstruction

Read the original on arXiv Computer Vision →

HiP3R introduces a hierarchical pose graph approach for long‑horizon 3D reconstruction, addressing the trade‑off between chunk‑level and frame‑level optimization. It first builds a robust chunk‑level Sim(3) graph to set the global layout and scale, then fixes this layout while estimating a single SE(3) camera pose per frame to merge overlapping predictions into a unified trajectory. Experiments on multiple benchmarks show that HiP3R improves camera trajectories and 3D reconstruction quality for both chunk‑based and streaming backends without extra training.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv Computer Vision.

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