Kosmo-GFM pairs a geometry foundation model with pose optimization: higher mean pose accuracy than GLUEMAP on 34 scenes, 14.07 hours instead of 69.67
Kosmo-GFM combines a geometry foundation model, GFM, with a pose optimization engine, PoseEngine: GFM predicts cameras, depth, cross-view correspondences and dynamic 3D points from images and videos, and PoseEngine folds those priors into optimization. On the 34 scenes completed by every compared method, PoseEngine reaches higher mean pose accuracy than GLUEMAP and cuts cumulative reconstruction time from 69.67 hours to 14.07 hours; the fast variant PoseEngine Flash takes 2.62 hours while keeping complete image registration.