{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,28]],"date-time":"2026-05-28T06:01:45Z","timestamp":1779948105531,"version":"3.53.1"},"reference-count":86,"publisher":"IEEE","license":[{"start":{"date-parts":[[2026,3,20]],"date-time":"2026-03-20T00:00:00Z","timestamp":1773964800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,3,20]],"date-time":"2026-03-20T00:00:00Z","timestamp":1773964800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2026,3,20]]},"DOI":"10.1109\/3dv69130.2026.00051","type":"proceedings-article","created":{"date-parts":[[2026,5,27]],"date-time":"2026-05-27T19:40:49Z","timestamp":1779910849000},"page":"468-478","source":"Crossref","is-referenced-by-count":0,"title":["Marginalized Bundle Adjustment: Multi-View Camera Pose from Monocular Depth Estimates"],"prefix":"10.1109","author":[{"given":"Shengjie","family":"Zhu","sequence":"first","affiliation":[{"name":"Google"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ahmed","family":"Abdelkader","sequence":"additional","affiliation":[{"name":"Google"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mark J.","family":"Matthews","sequence":"additional","affiliation":[{"name":"Google"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaoming","family":"Liu","sequence":"additional","affiliation":[{"name":"Michigan State University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wen-Sheng","family":"Chu","sequence":"additional","affiliation":[{"name":"Google"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-19769-7_40"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.01044"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00138"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.00539"},{"key":"ref5","article-title":"Zoedepth: Zero-shot transfer by combining relative and metric depth","author":"Farooq Bhat","year":"2023","journal-title":"arXiv preprint"},{"key":"ref6","article-title":"Method towards cvpr 2021 image matching challenge","author":"Bi","year":"2021","journal-title":"arXiv preprint"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00405"},{"key":"ref8","article-title":"Visual Camera ReLocalization From RGB and RGB-D Images Using DSAC","author":"Brachmann","year":"2022","journal-title":"PAMI"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00488"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-72992-8_24"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/3DV53792.2021.00125"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-20080-9_1"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01953"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.261"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.261"},{"key":"ref16","article-title":"Sail-recon: Large sfm by augmenting scene regression with localization","author":"Deng","year":"2025","journal-title":"arXiv preprint"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2018.00060"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/3DV66043.2025.00008"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.01704"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01871"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52734.2025.01563"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1561\/0600000052"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2013.6671777"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46466-4_15"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1080\/23311916.2019.1632046"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1017\/cbo9780511811685"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.02040"},{"key":"ref29","article-title":"Adam: A method for stochastic optimization","volume-title":"ICLR","author":"Kingma","year":"2014"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1145\/3072959.3073599"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00166"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52734.2025.00600"},{"key":"ref33","article-title":"From big to small: Multi-scale local planar guidance for monocular depth estimation","author":"Han Lee","year":"2019","journal-title":"arXiv preprint"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-73220-1_5"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/icpr.2006.579"},{"key":"ref36","volume-title":"Fastmap: Revisiting structure from motion through first-order optimization","author":"Li","year":"2025"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01200"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00218"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-20074-8_6"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.00593"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.00593"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52734.2025.01552"},{"key":"ref43","article-title":"Vggtslam: Dense rgb slam optimized on the sl (4) manifold","author":"Maggio","year":"2025","journal-title":"arXiv preprint"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1145\/3503250"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-22321-1_9"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2004.17"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-73661-2_4"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.00963"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52734.2025.00104"},{"key":"ref50","volume-title":"Dronedeploy nerf dataset","author":"Pilkington","year":"2022"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2020.3019967"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-19787-1_35"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.01300"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00326"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/tpami.2016.2611662"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.445"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.445"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/cvpr.2017.272"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00022"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.377"},{"key":"ref61","volume-title":"Density Estimation for Statistics and Data Analysis","author":"Silverman","year":"1986"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/3DV66043.2025.00041"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00881"},{"key":"ref64","article-title":"BA-net: Dense bundle adjustment networks","volume-title":"ICLR","author":"Tang","year":"2019"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00096"},{"key":"ref66","article-title":"DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras","author":"Teed","year":"2021","journal-title":"Advances in neural information processing systems"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1006\/cviu.1999.0832"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2023.3249225"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00408"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01258"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/3DV66043.2025.00013"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00896"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.02049"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52734.2025.00499"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52734.2025.00983"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52734.2025.00496"},{"key":"ref77","article-title":"Moge-2: Accurate monocular geometry with metric scale and sharp details","author":"Wang","year":"2025","journal-title":"arXiv preprint"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-023-01982-9"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01956"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58452-8_14"},{"key":"ref81","article-title":"Sc-wls: Towards interpretable feed-forward camera relocalization","volume-title":"ECCV","author":"Wu","year":"2022"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1145\/3610548.3618139"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.00987"},{"key":"ref84","article-title":"MonST3r: A simple approach for estimating geometry in the presence of motion","volume-title":"ICLR","author":"Zhang","year":"2025"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.02098"},{"key":"ref86","article-title":"Tame a wild camera: In-the-wild monocular camera calibration","volume-title":"NeurIPS","author":"Zhu","year":"2023"}],"event":{"name":"2026 International Conference on 3D Vision (3DV)","location":"Vancouver, BC, Canada","start":{"date-parts":[[2026,3,20]]},"end":{"date-parts":[[2026,3,23]]}},"container-title":["2026 International Conference on 3D Vision (3DV)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11533157\/11533158\/11533236.pdf?arnumber=11533236","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,28]],"date-time":"2026-05-28T05:01:59Z","timestamp":1779944519000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11533236\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3,20]]},"references-count":86,"URL":"https:\/\/doi.org\/10.1109\/3dv69130.2026.00051","relation":{},"subject":[],"published":{"date-parts":[[2026,3,20]]}}}