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SkyAnchor: Updating Metric-scale Aerial 3D Gaussian Scenes from Unposed Ground-View Sequences

arXiv · AI, language, vision and robotics · article · Sep 12, 2026 · UTC

We study how to update a pre-built aerial scene with a newly captured, unposed ground-view sequence. The aerial scene already contains a reliable metric Structure-from-Motion (SfM) reconstruction and a pre-trained 3D Gaussian Splatting (3DGS) model, whereas the ground-view sequence is collected later to add street-level appearance but has unknown camera poses and global scale. Registering this sequence to the aerial SfM reconstruction is challenging because single-image cross-view localization is brittle and long trajectories are prone to drift. To address these challenges, we present SkyAncho

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