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cs.CV2026
VI3: Grounding Pretrained 3D Foundation Models with Inertial Cues
Ernesto Lozano, Alberto Jaenal, Javier Civera
3D foundation models (3DFMs) excel at predicting camera poses and dense depth from multiple views of a scene, showcasing strong zero-shot generalization. However, as metric scale i…
cs.CV2026
Gravity-aware partially calibrated absolute pose estimation from affine- or rotation-covariant features
Marcus Valtonen Örnhag, Alberto Jaenal, Stefan Adalbjörnsson
Inertial measurement units (IMUs) are now standard in most consumer devices, such as smartphones, drones, and extended reality (XR) headsets. By fusing visual and inertial data, lo…
cs.CV2025
ColabSfM: Collaborative Structure-from-Motion by Point Cloud Registration
Johan Edstedt, André Mateus, Alberto Jaenal
Structure-from-Motion (SfM) is the task of estimating 3D structure and camera poses from images. We define Collaborative SfM (ColabSfM) as sharing distributed SfM reconstructions.…