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README.md
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[**Project Page**](https://xiangyu1sun.github.io/NoDrift3R-project-page/) | [**Paper**](https://arxiv.org/abs/2607.07168) | [**Code**](https://github.com/HorizonRobotics/NoDrift3R)
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NoDrift3R is an ECCV 2026 method for drift-robust, pose-free feed-forward 3D Gaussian Splatting reconstruction. It targets cumulative camera-pose drift in long, unposed image sequences by explicitly coupling geometry and appearance. Gaussian centers are anchored to raymap-induced geometry, while RGB reconstruction, raymap consistency, and camera regularization are optimized jointly to improve rendering, geometry, and pose estimation together.
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## Highlights
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[**Project Page**](https://xiangyu1sun.github.io/NoDrift3R-project-page/) | [**Paper**](https://arxiv.org/abs/2607.07168) | [**Code**](https://github.com/HorizonRobotics/NoDrift3R)
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<p align="center">
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<img src="https://xiangyu1sun.github.io/NoDrift3R-project-page/static/images/problem.png" alt="NoDrift3R overview" width="100%">
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</p>
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NoDrift3R is an ECCV 2026 method for drift-robust, pose-free feed-forward 3D Gaussian Splatting reconstruction. It targets cumulative camera-pose drift in long, unposed image sequences by explicitly coupling geometry and appearance. Gaussian centers are anchored to raymap-induced geometry, while RGB reconstruction, raymap consistency, and camera regularization are optimized jointly to improve rendering, geometry, and pose estimation together.
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## Highlights
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