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Published at December 10

LoRA3D: Low-Rank Self-Calibration of 3D Geometric Foundation Models

cs.CV

cs.LG

cs.RO

Released Date: December 10, 2024

Authors: Ziqi Lu¹, Heng Yang¹, Danfei Xu¹, Boyi Li¹, Boris Ivanovic¹, Marco Pavone¹, Yue Wang¹

Aff.: ¹NVIDIA Research

Arxiv: http://arxiv.org/pdf/2412.07746v1

Refer to caption

Methods	office0		office1		office2		office3		office4
Methods	Acc.	Comp.	Acc.	Comp.	Acc.	Comp.	Acc.	Comp.	Acc.	Comp.
DUSt3R-Pretrain	5.22	6.78	9.21	9.27	6.57	8.35	8.43	11.89	12.97	15.89
DUSt3R-Self-Calib	4.43	6.08	3.56	5.48	4.75	6.89	6.60	11.00	7.81	12.22
DUSt3R-GT-FT	3.51	5.29	3.26	5.53	3.93	6.72	4.02	7.42	5.53	11.25
COLMAP (dense)	2.61	89.87	58.15	158.83	4.87	194.16	5.51	162.53	6.42	120.84
FlowMap	51.78	152.05	142.81	107.17	24.16	189.86	19.58	248.16	15.34	153.64
MASt3R	4.69	6.05	3.92	4.87	4.09	7.39	7.17	9.42	4.87	11.52