---
license: cc-by-nc-4.0
base_model: Depth-Anything/Depth-Anything-3
tags:
  - 3d-reconstruction
  - visual-slam
  - pose-estimation
  - depth-estimation
  - computer-vision
---

# R³: 3D Reconstruction via Relative Regression

## Model Description

R³ is a feed-forward model for long-video 3D reconstruction via confidence-weighted relative pose regression.

Built on top of the Depth Anything 3 (DA3) backbone, R³ predicts pairwise relative camera poses and dense geometry from arbitrarily long video streams. Instead of directly regressing all cameras in a global coordinate frame, R³ estimates confidence-weighted relative transformations between image pairs and assembles a globally consistent trajectory downstream.

With approximately 372M parameters, R³ achieves competitive or state-of-the-art performance on camera pose estimation and dense reconstruction benchmarks while remaining significantly smaller than recent billion-parameter alternatives.

## License

This model is a derivative work based on the Depth Anything 3 (DA3) model.

The original DA3 model is released under the CC BY-NC 4.0 license. Accordingly, this model is also distributed under the CC BY-NC 4.0 license and may only be used in accordance with the terms of that license.

Commercial use is not permitted without obtaining appropriate permissions from the original rights holders.

## Model Details

- **Model Type:** 3D Reconstruction / Visual Localization
- **Backbone:** Depth Anything 3 (DA3)
- **Parameters:** ~372M
- **Task:** Relative Pose Regression and Dense 3D Reconstruction

## Citation

If you use this model in your research, please cite the R³ paper.

```bibtex
@misc{xu2026r3,
      title={$R^3$: 3D Reconstruction via Relative Regression},
      author={Congrong Xu and Huachen Gao and Xingyu Chen and Yuliang Xiu and Jun Gao and Anpei Chen},
      year={2026},
}
```