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# CSE5519 Advances in Computer Vision (Topic G: 2025: Correspondence Estimation and Structure from Motion)
## MegaSaM: Accurate, Fast, and Robust Structure and Motion from Casual Dynamic Videos
[link to paper](https://arxiv.org/pdf/2412.04463)
- vanilla Droid-SLAM
- mono-depth initialization
- objective movement map prediction
- two-stage training scheme
> [!TIP]
>
> How does the two-stage training scheme help with the robustness of the model? For me, it seems that this paper is just the integration of GeoNet (separated pose and depth) with full regression.