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},
}