SURE-Map self-correcting streaming GFM cuts KITTI trajectory error from 24m to 17.24m
zhenjun_zhao · x · 2026-09-16
SURE-Map introduces self-correction for streaming geometric foundation models: cross-view geometric uncertainty modeling plus multi-timescale self-correction (fast per-frame inference + sparse keyframe-window scale recalibration). New SOTA for online feed-forward reconstruction, reducing ATE-RMSE from 24.00 to 17.24 m on KITTI and 5.11 to 4.74 m on Oxford Spires.
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