[
    {
        "id": "osp-24025",
        "type": "article-journal",
        "title": "CLoSeR: Closing the Loop for Long-Context Streaming Reconstruction",
        "author": [
            {
                "family": "Li",
                "given": "Moyang"
            },
            {
                "family": "Zhu",
                "given": "Zihan"
            },
            {
                "family": "Zhang",
                "given": "Wei"
            },
            {
                "family": "Pollefeys",
                "given": "Marc"
            },
            {
                "family": "Barath",
                "given": "Daniel"
            }
        ],
        "URL": "https://omanscience.com/en/articles/closer-closing-the-loop-for-long-context-streaming-reconstruction",
        "language": "en",
        "issued": {
            "date-parts": [
                [
                    2026
                ]
            ]
        },
        "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."
    }
]