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G-ray: Ray-Level Relative Geometric Position Encoding in Multi-View Vision Transformers under Camera Heterogeneity

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

We study relative position encoding for multi-view vision Transformers under camera heterogeneity, including varying fields of view (FoVs) or projection models. Existing rotary relative position encodings commonly use image-plane positional coordinates, producing projection-dependent relative phases and inconsistent geometric cues for cross-projection attention. We introduce G-ray, a ray-level relative position encoding whose rotary phases are parameterized by camera-local ray angles. The same camera-local ray pair induces the same relative phase across projections, providing projection-invari

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