StreamRig: Exploiting Intra-Rig Geometry for Streaming Multi-Camera Odometry

arXiv:2609.40244 · cs.CV, cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Code: https://github.com/WeiYuFei0217/StreamRig

Terminology

• Alignment — 10× in this paper · explained in 1 episode
• Foundation Model — 9× in this paper · explained in 3 episodes
• Calibration — 8× in this paper · explained in 7 episodes
• Accuracy — 7× in this paper · explained in 1 episode
• Ablation — 5× in this paper · explained in 1 episode
• Transformer — 5× in this paper · explained in 2 episodes
• Conference on Computer Vision and Pattern Recognition — 4× in this paper
• Foundation Models — 4× in this paper · explained in 7 episodes
• Temporal Reasoning — 4× in this paper · explained in 2 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Embeddings — 2× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• 3D Gaussian Splatting — 1× in this paper · explained in 2 episodes
• Anchor Tokens — 1× in this paper · explained in 1 episode
• Angular Error — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• International Conference on Learning Representations — 1× in this paper
• Pruning — 1× in this paper · explained in 4 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Systematic Bias — 1× in this paper · explained in 3 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Two-stage training — 1× in this paper · explained in 2 episodes

Sources

• Geometric Context Transformer for Streaming 3D Reconstruction
• HorizonStream: Long-Horizon Attention for Streaming 3D Reconstruction
• Depth Anything 3: Recovering the Visual Space from Any Views
• G2G: Exploiting Intra-Group Geometry for Inter-Group Pose Estimation
• WinT3R: Window-Based Streaming Reconstruction with Camera Token Pool

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