Glob3R: Global Structure-from-Motion With 3D Foundation Models

HKUST Spatial Artificial Intelligence Lab · Alibaba Group · Nanjin University · Fudan University

Junyuan Deng, Heng Li, Kejie Qiu, Lingteng Qiu, Rui Peng, Weichao Shen, Weihao Yuan, Siyu Zhu, Zilong Dong, Ping Tan

Overview

Glob3R is a scalable global 3D reconstruction framework built on geometric foundation models. It converts dense feed-forward predictions into reliable multi-view tracks and jointly refines camera poses and scene geometry through motion averaging and bundle adjustment. Glob3R improves reconstruction accuracy and consistency on long sequences, large-scale scenes, and unordered image collections.

TODO

• Inference Code Release
• Evaluation Script

Acknowledgements

Thanks to these great repositories:

Sail-Recon for the PSNR evaluation;

Pi3, RomaV2, Instant-SfM, Glomap for inspiration in algorithm design and implementation;

And many other inspiring works in the community.

If you find this project useful in your research, please consider citing:

@article{glob3r2026,
  title={Glob3R: Global Structure-from-Motion with 3D Foundation Models},
  author={Anonymous Authors},
  journal={arXiv preprint arXiv:2607.09225},
  year={2026}
}