用滑动窗口提升单目3D重建的可扩展性，无需重训练

The recent paradigm shift in 3D vision led to the rise of foundation models with remarkable capabilities in 3D perception from uncalibrated images. However, extending these models to large-scale RGB stream 3D reconstruction remains challenging due to memory limitations. This work proposes S-MUSt3R, a simple and efficient pipeline that extends the limits of foundation models for monocular 3D reconstruction. Our approach addresses the scalability bottleneck of foundation models through a simple strategy of sequence segmentation followed by segment alignment and lightweight loop closure optimization. Without model retraining, we benefit from remarkable 3D reconstruction capacities of MUSt3R model and achieve trajectory and reconstruction performance comparable to traditional methods with more complex architecture. We evaluate S-MUSt3R on TUM, 7-Scenes and proprietary robot navigation datasets and show that S-MUSt3R runs successfully on long RGB sequences and produces accurate and consistent 3D reconstruction. Our results highlight the potential of leveraging the MUSt3R model for scalable monocular 3D scene in real-world settings, with an important advantage of making predictions directly in the metric space.