Search arXiv⌕ Search
Home/Archive/arXiv

arXiv · 2609.05210

BLASt3R: Bundle Adjustment of Any Image Set with Multi-View Matching and Monocular Priors

Vincent Leroy·Philippe Weinzaepfel·Lojze Zust·Yohann Cabon·Jérome Revaud
View original source ↗Read source document ↗Export metadata ↓

Abstract

Recent hybrid Structure-from-Motion (SfM) systems combine the robustness of feed-forward 3D reconstruction with the accuracy of traditional bundle adjustment (BA) with pixel matching. They are usually the best performing methods however their scalability and usability remains limited since estimating dense correspondences between views is prohibitively costly, especially considering time constraints inherent to online applications like Visual SLAM (VSLAM). In this paper, we introduce a regularized BA framework that leverages a fast multi-view matcher and monocular priors for initialization and regularization. In contrast to existing systems, our unified approach seamlessly supports both online VSLAM and offline reconstruction from unordered image collections within the same optimization framework and sharing common hyperparameters for all tasks. Extensive experiments across both domains demonstrate improved performance and speed tradeoffs over traditional, feed-forward, and hybrid baselines. Notably for VSLAM, our uncalibrated method outperforms all previous calibrated approaches.

Explore related subjects

cs.CV

Keep this discovery

BibTeXRIS

Vincent Leroy, Philippe Weinzaepfel, Lojze Zust, Yohann Cabon, Jérome Revaud. 2026-09-04. BLASt3R: Bundle Adjustment of Any Image Set with Multi-View Matching and Monocular Priors. https://arxiv.org/abs/2609.05210

Cite the original work for its findings. Save a collection to share your selection of sources.

Discover connections

cs.CV subject

Connections use source metadata and explicit phrase matches, not verified experimental comparisons.

KEEP EXPLORING

Related papers

arXiv2026

Stochastic Optimization of Tree Tensor Networks

Tensor networks, originally developed for quantum many-body physics, are promising models for machine learning. We derive stochastic Riemannian optimizers for tree tensor networks (TTNs) on both their parameter and quotient manifolds, including adaptive and learning-rate-free schemes suitable for minibatch training. Using a hybrid CNN-TTN architecture, we evaluate the methods on Fashion-MNIST, CIFAR10, and Imagenette. The proposed optimizers achieve predictive performance comparable to unconstrained optimization while enabling numerically stable downstream compression.

math.OC↗
arXiv2026

Can We Change the Stroke Size for Easier Diffusion?

Diffusion models can be challenged in the low signal-to-noise regime, where they have to make pixel-level predictions despite the presence of high noise. The geometric intuition is akin to using the finest stroke for oil painting throughout, which may be ineffective. We therefore study \emph{stroke-size control} as a controlled intervention that changes the roughness of the supervised target, predictions and perturbations across timesteps, in an attempt to ease the low signal-to-noise challenge via the prediction target simplification.

cs.CV↗
arXiv2026

Texture Image Classification Using DWT AlexNet Feature Fusion and Deep Neural Networks

Texture image classification plays a significant role in computer vision applications, including industrial inspection, medical image analysis, remote sensing, and object recognition. Handcrafted features can capture local texture characteristics but may have limited capability to represent complex visual patterns. In contrast, deep learning models automatically learn discriminative representations but may not fully exploit the multiscale spatial-frequency information inherent in texture images. This paper proposes a hybrid feature fusion framework, termed DWT_AlexNet_DNN, which combines Discrete Wavelet Transform (DWT) features with deep features extracted using AlexNet for texture image classification.

cs.CV↗