AMB3R: Accurate Feed-forward Metric-scale 3D Reconstruction with Backend

• URL: http://arxiv.org/abs/2511.20343v1
• Date: Tue, 25 Nov 2025 14:23:04 GMT
• Title: AMB3R: Accurate Feed-forward Metric-scale 3D Reconstruction with Backend
• Authors: Hengyi Wang, Lourdes Agapito,
• Abstract summary: AMB3R is a feed-forward model for dense 3D reconstruction on a metric-scale.<n>We show that AMB3R can be seamlessly extended to uncalibrated visual odometry (online) or large-scale structure from motion.
• Score: 18.645700170943975
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We present AMB3R, a multi-view feed-forward model for dense 3D reconstruction on a metric-scale that addresses diverse 3D vision tasks. The key idea is to leverage a sparse, yet compact, volumetric scene representation as our backend, enabling geometric reasoning with spatial compactness. Although trained solely for multi-view reconstruction, we demonstrate that AMB3R can be seamlessly extended to uncalibrated visual odometry (online) or large-scale structure from motion without the need for task-specific fine-tuning or test-time optimization. Compared to prior pointmap-based models, our approach achieves state-of-the-art performance in camera pose, depth, and metric-scale estimation, 3D reconstruction, and even surpasses optimization-based SLAM and SfM methods with dense reconstruction priors on common benchmarks.

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