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

Project Page | Paper | Code

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 and project page for code, configuration, dataset, and usage updates.

Download

The root config.yaml lists the released checkpoints with their file sizes and SHA256 digests. Include it when selecting a checkpoint to download:

from huggingface_hub import snapshot_download

checkpoint = "dl3dv_large_4_8_5090.ckpt"
model_dir = snapshot_download(
    "HorizonRobotics/NoDrift3R",
    allow_patterns=["config.yaml", checkpoint],
    local_dir="NoDrift3R",
)

Choose any checkpoint listed above and follow the NoDrift3R code for loading and inference configuration.

Citation

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

@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}
}