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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

  • 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.