SAGE-Flow: A Decoupled Framework for Geometry Alignment and Stateless Real-Time Multi-Camera 3D Reconstruction

Abstract

Real-time multi-camera 3D reconstruction remains challenging due to the strong dependency among extrinsic calibration, multi-view fusion, and global optimization, which limits reconstruction stability and scalability. This paper presents SAGE-Flow, a decoupled framework consisting of geometry-aligned multi-view calibration (GMAC) and stateless adaptive geometric representation (SAGE). GMAC estimates camera extrinsics from geometric constraints without calibration targets, dense images, or bundle adjustment. SAGE constructs a compact geometric representation by selecting reliable multi-view observations under a bounded geometric budget, achieving linear time and memory complexity. Experiments show SAGE-Flow achieves precise camera calibration, low 3D reconstruction cost, good scalability, and can generate high-quality point clouds under limited throughput.

arXiv comment8 pages, 5 figures, add bitstream control capability based on the original paper, renamed SAGE-Flow