Triangulation-Free Bundle Adjustment with Graduated Non-Convexity for Camera Pose Refinement from Coarse Priors

Abstract

Mobile AR frameworks attach a metric pose prior to every casual phone capture, and turning it into reconstruction-grade poses cheaply on CPU is the step before novel-view synthesis. The least a refiner owes an accurate prior is not to make it worse. The workhorse refiner does. On 15 ScanNet++ iPhone room captures, COLMAP triangulation plus prior-seeded bundle adjustment degrades an accurate ARKit prior in all 15, 0.55 degrees to 0.74 degrees by scene-mean. The cause is the seeding. Structure is triangulated from the prior before anything is optimized, so the prior's error is baked into the structure the optimizer trusts. We remove the triangulation. Every keypoint owns a scalar depth along its own back-projected ray and each match contributes two symmetric cross-projection residuals, so structure is re-expressed at every iterate. The same solve holds the room prior at 0.57 degrees and never fails in 330 perturbed room runs, and at object scale reaches 0.265 degrees/1.80 mm from a prior at 0.456 degrees in a median of 10 s per scene on one CPU, against 2.5 GPU-hours for a learned refiner. Because no structure is committed, the objective also admits graduated non-convexity, which measures how deep the defect goes. Classical refinement collapses past 1-2 degrees of prior error, barely beyond a real ARKit prior, and no classical refinement arm survives 32 degrees. Ours recovers 425 of 425 runs through 16 degrees/80 mm and 85% at 32 degrees/160 mm, and perturbed rooms through 32 degrees. Nominal object-scale accuracy is on par rather than better, on a benchmark at its own noise floor, where classical bundle adjustment is a strong baseline absent from the literature. One scene fails for every solver already at zero perturbation. Re-mapping from position priors matches us in the prior's frame but discards it, so it cannot exploit a prior worth keeping or be warm-started.