Abstract
Feedforward foundation models have recently shown remarkable 3D reconstruction capabilities. However, existing models exhibit large tracking drift in long-context streaming reconstruction due to error accumulation. In this paper, we revisit loop closure with streaming reconstruction foundation models to enable accurate, drift-free, kilometer-scale reconstruction. Specifically, our method detects loop candidates through global descriptor retrieval, and constructs loop-conditioned windows to estimate the relative poses between looped frames. Given the observation that our adopted streaming reconstruction backbone produces a globally consistent scale, we optimize all frame poses on the SE(3) manifold with sequential and loop closure constraints, avoiding the pose graph optimization on the Sim(3) or higher-dimensional SL(4) manifolds employed in prior works. Extensive experiments show that our method reduces drift and produces consistent geometry on kilometer-scale sequences, significantly outperforming the state of the art. Code is available at https://github.com/MoyangLi00/CLoSeR.git.
Keywords
Publication details
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- Open access
- Green open access
Cite this article
APA 7
Li, M., Zhu, Z., Zhang, W., Pollefeys, M., & Barath, D. (2026). CLoSeR: Closing the Loop for Long-Context Streaming Reconstruction. https://omanscience.com/en/articles/closer-closing-the-loop-for-long-context-streaming-reconstruction
MLA 9
Li, Moyang, et al. "CLoSeR: Closing the Loop for Long-Context Streaming Reconstruction." https://omanscience.com/en/articles/closer-closing-the-loop-for-long-context-streaming-reconstruction.
Chicago (author–date)
Li, Moyang, Zihan Zhu, Wei Zhang, Marc Pollefeys, and Daniel Barath. 2026. "CLoSeR: Closing the Loop for Long-Context Streaming Reconstruction." https://omanscience.com/en/articles/closer-closing-the-loop-for-long-context-streaming-reconstruction.
Harvard
Li, M., Zhu, Z., Zhang, W., Pollefeys, M. and Barath, D. (2026) 'CLoSeR: Closing the Loop for Long-Context Streaming Reconstruction', Available at: https://omanscience.com/en/articles/closer-closing-the-loop-for-long-context-streaming-reconstruction.
Vancouver
Li M, Zhu Z, Zhang W, Pollefeys M, Barath D. CLoSeR: Closing the Loop for Long-Context Streaming Reconstruction. https://omanscience.com/en/articles/closer-closing-the-loop-for-long-context-streaming-reconstruction
IEEE
M. Li, Z. Zhu, W. Zhang, M. Pollefeys, and D. Barath, "CLoSeR: Closing the Loop for Long-Context Streaming Reconstruction," https://omanscience.com/en/articles/closer-closing-the-loop-for-long-context-streaming-reconstruction.