StreamRig: Exploiting Intra-Rig Geometry for Streaming Multi-Camera Odometry
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초록 발췌
Mobile robots and vehicles carry synchronized multi-camera rigs, yet many streaming 3D foundation models are designed for monocular input, leaving efficient use of rig geometry a challenge. We present StreamRig, a freeze-and-stream framework that builds causal streaming odometry for calibrated rigs on a frozen multi-view 3D foundation model.
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