Rong Xiong

StreamRig: Exploiting Intra-Rig Geometry for Streaming Multi-Camera Odometry

Mobile robots and vehicles carry synchronized multi-camera rigs, yet many streaming 3D foundation models are designed for monocular input, leaving efficient use of rig geometry a challenge. We present StreamRig, a freeze-and-stream framework that builds causal streaming odometry for calibrated rigs on a frozen multi-vi...