LivePose: Online 3D Reconstruction from Monocular Video with Dynamic Camera Poses

Dense 3D reconstruction from RGB images traditionally assumes static camera pose estimates. This assumption has endured, even as recent works have increasingly focused on real-time methods for mobile devices. However, the assumption of one pose per image does not hold for online execution: poses from real-time SLAM are dynamic and may be updated following events such as bundle adjustment and loop closure. This has been addressed in the RGB-D setting, by de-integrating past views and re-integrating them with updated poses, but it remains largely untreated in the RGB-only setting. We formalize…