R³ — Relative Pose Regression Visualization

Global-frame streaming regression baseline

Later poses stay in F₀'s frame; prediction gets harder as the stream grows.

True path Estimated Poses in F₀ frame

R³: relative regression + keyframe bank ours

Confidence-weighted relative pose aggregation against a confidence-driven keyframe bank.

True path Node conf (low → high) Keyframe Edge: high conf Edge: low conf