ArXiv

MAGiSt3R: Multi-Agent Feed-forward 3D Reconstruction from Monocular RGB Videos

2026-07-16 · 17:12 UTC ·Ziren Gong, Xiaohan Li, Fabio Tosi... ·1 min read

Authors: Ziren Gong, Xiaohan Li, Fabio Tosi...
Categories: cs.CV
arXiv: https://arxiv.org/abs/2607.15211v1
PDF: https://arxiv.org/pdf/2607.15211v1

Brief

MAGiSt3R is a multi-agent, feed-forward 3D reconstruction system for monocular RGB videos that achieves nearly 10 FPS. It regresses local point maps with a 3R-family network, fuses them with the MAGMA merger at intra- and inter-agent levels, and reduces drift via pose-graph optimization. Authors report superior reconstruction and tracking on synthetic and real datasets; only the abstract was available.

Why it matters

MAGiSt3R is a multi-agent 3D reconstruction framework that processes monocular RGB videos at almost 10 FPS using a feed-forward 3R-family model to regress local point maps and a dedicated merging module (MAGMA) to fuse maps intra-agent and inter-agent.

Key details

The system applies pose-graph optimization to mitigate cumulative camera drift and — according to evaluations on synthetic and real-world datasets — obtains superior reconstruction and camera-tracking accuracy versus state-of-the-art (Gong et al., arXiv:2607.15211v1, 2026-07-16).

Cleaned source text

Abstract