# PAS3R: Pose-Adaptive Streaming 3D Reconstruction for Long Video Sequences

arXiv: https://arxiv.org/abs/2603.21436 · HTML: https://mlsanity.com/paper/2603.21436/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 56 of its 86 references that are in the map.
- First posted on arXiv 22 Mar 2026.

## Builds on (most cited first, 30 of 56)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [RoFormer: Enhanced Transformer with Rotary Position Embedding](https://mlsanity.com/paper/2104.09864/) (2021)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation](https://mlsanity.com/paper/1901.05103/) (2019)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstruction](https://mlsanity.com/paper/2106.10689/) (2021)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [SuperPoint: Self-Supervised Interest Point Detection and Description](https://mlsanity.com/paper/1712.07629/) (2017)
- [4D Gaussian Splatting for Real-Time Dynamic Scene Rendering](https://mlsanity.com/paper/2310.08528/) (2023)
- [Grounding Image Matching in 3D with MASt3R](https://mlsanity.com/paper/2406.09756/) (2024)
- [H2O: Heavy-Hitter Oracle for Efficient Generative Inference of Large Language Models](https://mlsanity.com/paper/2306.14048/) (2023)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [MVSNet: Depth Inference for Unstructured Multi-view Stereo](https://mlsanity.com/paper/1804.02505/) (2018)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [Scaffold-GS: Structured 3D Gaussians for View-Adaptive Rendering](https://mlsanity.com/paper/2312.00109/) (2023)
- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [Pixel2Mesh: Generating 3D Mesh Models from Single RGB Images](https://mlsanity.com/paper/1804.01654/) (2018)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [3D-R2N2: A Unified Approach for Single and Multi-view 3D Object Reconstruction](https://mlsanity.com/paper/1604.00449/) (2016)
- [Learning a Probabilistic Latent Space of Object Shapes via 3D Generative-Adversarial Modeling](https://mlsanity.com/paper/1610.07584/) (2016)
- [Continuous 3D Perception Model with Persistent State](https://mlsanity.com/paper/2501.12387/) (2025)
- [AtlasNet: A Papier-Mach'e Approach to Learning 3D Surface Generation](https://mlsanity.com/paper/1802.05384/) (2018)
- [TartanAir: A Dataset to Push the Limits of Visual SLAM](https://mlsanity.com/paper/2003.14338/) (2020)

## Built on by (most cited first, 2 of 2)

- [Rethinking the State Update Gate for Long-Sequence Recurrent 3D Reconstruction](https://mlsanity.com/paper/2605.16981/) (2026)
- [LongDPM: Overlap-Aware 4D Reconstruction from Long Monocular Videos](https://mlsanity.com/paper/2605.17303/) (2026)

## Abstract (arXiv)

Online monocular 3D reconstruction enables dense scene recovery from streaming video but remains fundamentally limited by the stability-adaptation dilemma: the reconstruction model must rapidly incorporate novel viewpoints while preserving previously accumulated scene structure. Existing streaming approaches rely on uniform or attention-based update mechanisms that often fail to account for abrupt viewpoint transitions, leading to trajectory drift and geometric inconsistencies over long sequences. We introduce PAS3R, a pose-adaptive streaming reconstruction framework that dynamically modulates state updates according to camera motion and scene structure. Our key insight is that frames contributing significant geometric novelty should exert stronger influence on the reconstruction state, while frames with minor viewpoint variation should prioritize preserving historical context. PAS3R operationalizes this principle through a motion-aware update mechanism that jointly leverages inter-frame pose variation and image frequency cues to estimate frame importance. To further stabilize long-horizon reconstruction, we introduce trajectory-consistent training objectives that incorporate relative pose constraints and acceleration regularization. A lightweight online stabilization module further suppresses high-frequency trajectory jitter and geometric artifacts without increasing memory consumption. Extensive experiments across multiple benchmarks demonstrate that PAS3R significantly improves trajectory accuracy, depth estimation, and point cloud reconstruction quality in long video sequences while maintaining competitive performance on shorter sequences.