---
language:
- en
tags:
- computer-vision
- 3d-reconstruction
- gaussian-splatting
- novel-view-synthesis
- camera-pose-estimation
- pose-free
- feed-forward
---

# NoDrift3R: Raymap-Guided Coupling for Drift-Robust Unposed Feed-Forward 3D Reconstruction

[**Project Page**](https://xiangyu1sun.github.io/NoDrift3R-project-page/) | [**Paper**](https://arxiv.org/abs/2607.07168) | [**Code**](https://github.com/HorizonRobotics/NoDrift3R)

<p align="center">
  <img src="https://xiangyu1sun.github.io/NoDrift3R-project-page/static/images/problem.png" alt="NoDrift3R overview" width="100%">
</p>

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.

## Highlights

- **Drift-robust long-sequence reconstruction:** directly addresses cumulative camera-pose errors that degrade geometry and rendering quality.
- **Raymap-Guided Coupling:** connects Gaussian geometry with raymap predictions to reduce pose-geometry ambiguity.
- **Geometry-appearance synergy:** jointly optimizes RGB reconstruction, raymap consistency, and camera regularization in a unified objective.
- **Dual-Frequency Viewpoint Scheduling:** combines easy-to-hard interval expansion with replay of short-interval image pairs for stable training across temporal ranges.
- **Pose-free feed-forward inference:** reconstructs scenes and estimates camera poses without requiring input camera poses.

## Checkpoints

This repository contains the following checkpoints:

- `dl3dv_giant_2_8_H20.ckpt`
- `dl3dv_large_4_8_5090.ckpt`
- `mix_dataset_giant_4_8_H20.ckpt`
- `mix_dataset_large_8_8_5090.ckpt`

Please follow the [GitHub repository](https://github.com/HorizonRobotics/NoDrift3R) and [project page](https://xiangyu1sun.github.io/NoDrift3R-project-page/) for code, configuration, dataset, and usage updates.

## Citation

If you find NoDrift3R useful in your research, please cite:

```bibtex
@misc{sun2026nodrift3rraymapguidedcouplingdriftrobust,
  title         = {NoDrift3R: Raymap-Guided Coupling for Drift-Robust Unposed Feed-Forward 3D Reconstruction},
  author        = {Xiangyu Sun and Liu Liu and Seungkwon Yang and Jingbing Han and Seungtae Nam and Zhizhong Su and Eunbyung Park},
  year          = {2026},
  eprint        = {2607.07168},
  archivePrefix = {arXiv},
  primaryClass  = {cs.CV},
  url           = {https://arxiv.org/abs/2607.07168}
}
```