{"id":"https://openalex.org/W7106827004","doi":"https://doi.org/10.48550/arxiv.2511.20343","title":"AMB3R: Accurate Feed-forward Metric-scale 3D Reconstruction with Backend","display_name":"AMB3R: Accurate Feed-forward Metric-scale 3D Reconstruction with Backend","publication_year":2025,"publication_date":"2025-11-25","ids":{"openalex":"https://openalex.org/W7106827004","doi":"https://doi.org/10.48550/arxiv.2511.20343"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2511.20343","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.20343","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2511.20343","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Wang, Hengyi","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Wang, Hengyi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Agapito, Lourdes","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Agapito, Lourdes","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.785099983215332,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.785099983215332,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.15940000116825104,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.012900000438094139,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7032999992370605},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.6370000243186951},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6200000047683716},{"id":"https://openalex.org/keywords/visual-hull","display_name":"Visual hull","score":0.5113999843597412},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.4747999906539917},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4555000066757202},{"id":"https://openalex.org/keywords/iterative-reconstruction","display_name":"Iterative reconstruction","score":0.4503999948501587},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.4260999858379364}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8424000144004822},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8173999786376953},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7032999992370605},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6644999980926514},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.6370000243186951},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6200000047683716},{"id":"https://openalex.org/C2776863239","wikidata":"https://www.wikidata.org/wiki/Q7936601","display_name":"Visual hull","level":3,"score":0.5113999843597412},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.4747999906539917},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4555000066757202},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.4503999948501587},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.4260999858379364},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.38530001044273376},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.38420000672340393},{"id":"https://openalex.org/C3019007443","wikidata":"https://www.wikidata.org/wiki/Q568742","display_name":"3d model","level":2,"score":0.37880000472068787},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.3691999912261963},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3675000071525574},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.337799996137619},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C20885615","wikidata":"https://www.wikidata.org/wiki/Q825595","display_name":"Surface reconstruction","level":3,"score":0.28029999136924744},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2703000009059906},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.2605000138282776}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2511.20343","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.20343","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2511.20343","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.20343","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"AMB3R,":[2],"a":[3,12,26],"multi-view":[4,46],"feed-forward":[5],"model":[6],"for":[7,45,69],"dense":[8,103],"3D":[9,17,92],"reconstruction":[10,104],"on":[11,106],"metric-scale":[13,90],"that":[14,50],"addresses":[15],"diverse":[16],"vision":[18],"tasks.":[19],"The":[20],"key":[21],"idea":[22],"is":[23],"to":[24,56,76],"leverage":[25],"sparse,":[27],"yet":[28],"compact,":[29],"volumetric":[30],"scene":[31],"representation":[32],"as":[33],"our":[34,80],"backend,":[35],"enabling":[36],"geometric":[37],"reasoning":[38],"with":[39,102],"spatial":[40],"compactness.":[41],"Although":[42],"trained":[43],"solely":[44],"reconstruction,":[47,93],"we":[48],"demonstrate":[49],"AMB3R":[51],"can":[52],"be":[53],"seamlessly":[54],"extended":[55],"uncalibrated":[57],"visual":[58],"odometry":[59],"(online)":[60],"or":[61,72],"large-scale":[62],"structure":[63],"from":[64],"motion":[65],"without":[66],"the":[67],"need":[68],"task-specific":[70],"fine-tuning":[71],"test-time":[73],"optimization.":[74],"Compared":[75],"prior":[77],"pointmap-based":[78],"models,":[79],"approach":[81],"achieves":[82],"state-of-the-art":[83],"performance":[84],"in":[85],"camera":[86],"pose,":[87],"depth,":[88],"and":[89,94,99],"estimation,":[91],"even":[95],"surpasses":[96],"optimization-based":[97],"SLAM":[98],"SfM":[100],"methods":[101],"priors":[105],"common":[107],"benchmarks.":[108]},"counts_by_year":[],"updated_date":"2025-11-28T02:12:24.556248","created_date":"2025-11-28T00:00:00"}
