# Static Scene Reconstruction from Dynamic Egocentric Videos

arXiv: https://arxiv.org/abs/2603.22450 · HTML: https://mlsanity.com/paper/2603.22450/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 3 of its 4 references that are in the map.
- First posted on arXiv 23 Mar 2026.

## Builds on (most cited first, 3 of 3)

- [MapAnything: Universal Feed-Forward Metric 3D Reconstruction](https://mlsanity.com/paper/2509.13414/) (2025)
- [HD-EPIC: A Highly-Detailed Egocentric Video Dataset](https://mlsanity.com/paper/2502.04144/) (2025)
- [Egocentric Human-Object Interaction Detection: A New Benchmark and Method](https://mlsanity.com/paper/2506.14189/) (2025)

## Abstract (arXiv)

Egocentric videos present unique challenges for 3D reconstruction due to rapid camera motion and frequent dynamic interactions. State-of-the-art static reconstruction systems, such as MapAnything, often degrade in these settings, suffering from catastrophic trajectory drift and "ghost" geometry caused by moving hands. We bridge this gap by proposing a robust pipeline that adapts static reconstruction backbones to long-form egocentric video. Our approach introduces a mask-aware reconstruction mechanism that explicitly suppresses dynamic foreground in the attention layers, preventing hand artifacts from contaminating the static map. Furthermore, we employ a chunked reconstruction strategy with pose-graph stitching to ensure global consistency and eliminate long-term drift. Experiments on HD-EPIC and indoor drone datasets demonstrate that our pipeline significantly improves absolute trajectory error and yields visually clean static geometry compared to naive baselines, effectively extending the capability of foundation models to dynamic first-person scenes.