G3T Up! Gravity Aligned Coordinate Frames Simplify Pointmap Processing

Bharath Raj Nagoor Kani, Noah Snavely
Cornell University

Overview

We introduce G3T, a transformer that predicts upright, gravity-aligned pointmaps regardless of input image orientation, and G3T-Long, a pipeline that leverages this uprightness to enable robust long-sequence 3D reconstruction.

Setup

Please refer to our GitHub repository.

Citation

If you find our work useful, please consider citing our paper:

@article{kani2026g3t,
  author    = {Nagoor Kani, Bharath Raj and Snavely, Noah},
  title     = {G3T Up! Gravity Aligned Coordinate Frames Simplify Pointmap Processing},
  journal   = {arXiv preprint},
  year      = {2026},
}