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GeoCond: A Conditioning-Aware Reliability Adapter for Feed-Forward 3D Reconstruction

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Feed-forward 3D foundation models such as VGGT predict cameras, depth, and point maps in a single pass, but can fail silently under low overlap, low parallax, and extreme relative rotation. Stratified analyses over these factors show that these failures are governed by geometric conditioning and are poorly captured by native aleatoric confidence. We introduce GeoCond, a lightweight reliability adapter for frozen feed-forward 3D backbones. GeoCond reads the backbone's predicted geometry and outputs pose-level uncertainty and a refinement gate. During training, it can be supervised by frame-perm

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