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.

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.

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