arxivcs.CVcs.RO2026-07-07
TRIG: Trajectory-Rig Decoupled Metric Geometry Learning
Lizhou Liao, Wentao Xu, Handong Wang, Lirong Yang, Shuai Yang, Weiwei Liu, et al.
Vision-centric autonomous driving requires accurate metric geometry and ego-motion estimation from synchronized multi-camera observations. Recent visual geometry models show strong performance in pose estimation, depth prediction, and 3D reconstruction, but are not tailored to ri…