# Any3R goes open source: one model unifies 3D reconstruction and pose estimation for pinhole, fisheye, and panoramic cameras

- Source: 3D视觉工坊 · 微信公众号
- Published: 2026-11-01T23:00:00.000Z
- RoboHot: https://robohot.news/en/items/d640vbtvm52dwrpms3zqzc8fj
- Original: https://mp.weixin.qq.com/s?__biz=MzU1MjY4MTA1MQ==&mid=2247752782&idx=1&sn=c287cef06b9441ca41c9ddd36bed24fd&chksm=fa870e420c71094b81fbf5e4282303ae2e15b7386c160862255563b07f8b7feac331d832406b&scene=126&sessionid=1793616322#rd

## Summary

South Dakota State University and other institutions propose Any3R, which uses a dense ray field to describe arbitrary central cameras, reconstructing a 3D point cloud and estimating pose from mixed-camera images in a single forward pass. The method replaces the row and column indices of rotary position encoding with angular coordinates and weights the pixel loss by solid angle, so one set of weights covers pinhole, fisheye beyond 180°, and 360° panoramic cameras. On benchmarks spanning 13 central camera types and 3 datasets, it leads in both reconstruction accuracy and pose accuracy; the inference code, 13 camera models, and weights are open-sourced.

## Why it matters

The article presents a feed-forward 3D reconstruction method that replaces the pinhole assumption with a dense ray field, offering insight into handling mixed inputs from multiple camera types.