TRIG: Trajectory-Rig Decoupled Metric Geometry Learning

• URL: http://arxiv.org/abs/2607.05801v2
• Date: Tue, 14 Jul 2026 11:59:09 GMT
• Title: TRIG: Trajectory-Rig Decoupled Metric Geometry Learning
• Abstract summary: Trajectory-Rig Decoupled Metric Geometry Learning (TRIG) is a geometry perception framework for autonomous driving.<n>We introduce decoupled pose encoding and supervision, which separately constrain trajectory evolution and rig geometry for metric-consistent learning.<n>Experiments on five autonomous driving benchmarks show that TRIG achieves state-of-the-art performance in pose estimation, metric depth prediction, and 3D reconstruction.
• Score: 33.69899077340302
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Vision-centric autonomous driving requires accurate metric geometry and ego-motion estimation from synchronized multi-camera observations. Recent visual geometry models show strong performance in pose estimation, depth prediction, and 3D reconstruction, but are not tailored to rigid multi-camera driving systems. They often encode camera poses as entangled representations, in which time-varying ego-motion and static camera-rig geometry are jointly modeled, limiting the utilization of vehicle-side geometric priors. We propose Trajectory-Rig Decoupled Metric Geometry Learning (TRIG), a geometry perception framework for autonomous driving. TRIG factorizes camera poses into ego-trajectory and camera-rig components, enabling separate modeling of ego-motion and static multi-camera topology. We introduce decoupled pose encoding and supervision, which separately constrain trajectory evolution and rig geometry for metric-consistent learning. Moreover, sparse Temporal--Spatial attention separates cross-camera interaction from temporal aggregation, reducing global attention cost while preserving geometric reasoning. Experiments on five autonomous driving benchmarks show that TRIG achieves state-of-the-art performance in pose estimation, metric depth prediction, and 3D reconstruction.

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