Motion- and Gravity-Aware Feedforward 3D Reconstruction

arXiv:2610.22177v1 Announce Type: cross Abstract: Feed-forward transformer models have recently achieved strong performance in multi-view 3D reconstruction, but they still rely primarily on appearance-based attention and often struggle in dynamic scenes with weak geometric cues. In this work, we introduce a motion- and gravity-aware framework under the Learning Using Privileged Information (LUPI) paradigm. During training, residual optical flow and gravity direction are provided as privileged signals to guide geometric representation learning; during inference, the model uses standard visual inputs only. We integrate these priors into transformer backbones with lightweight architectural changes, preserving feed-forward efficiency. Experiments on standard benchmarks show consistent gains in reconstruction accuracy and robustness, especially in scenes with dynamic objects, ambiguous structure, and challenging camera motion. Our analysis further shows that the optimal injection stage is backbone-dependent: middle-layer integration is generally preferable for VGGT, while late-stage integration is more effective for {\pi}3. These results suggest that LUPI offers a practical way to inject motion and physical priors into feed-forward 3D reconstruction without increasing test-time complexity.

Abstract:Feed-forward transformer models have recently achieved strong performance in multi-view 3D reconstruction, but they still rely primarily on appearance-based attention and often struggle in dynamic scenes with weak geometric cues. In this work, we introduce a motion- and gravity-aware framework under the Learning Using Privileged Information (LUPI) paradigm. During training, residual optical flow and gravity direction are provided as privileged signals to guide geometric representation learning; during inference, the model uses standard visual inputs only. We integrate these priors into transformer backbones with lightweight architectural changes, preserving feed-forward efficiency. Experiments on standard benchmarks show consistent gains in reconstruction accuracy and robustness, especially in scenes with dynamic objects, ambiguous structure, and challenging camera motion. Our analysis further shows that the optimal injection stage is backbone-dependent: middle-layer integration is generally preferable for VGGT, while late-stage integration is more effective for {\pi}3. These results suggest that LUPI offers a practical way to inject motion and physical priors into feed-forward 3D reconstruction without increasing test-time complexity.

Computer Vision and Pattern Recognition (cs.CV); Artificial Intelligence (cs.AI)

arXiv:2610.22177 [cs.CV]

(or arXiv:2610.22177v1 [cs.CV] for this version)

https://doi.org/10.48550/arXiv.2610.22177 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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Motion- and Gravity-Aware Feedforward 3D Reconstruction

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