IGGT4D: Streaming 4D Instance-Grounded Geometry Transformer

TL;DR - IGGT4D is a streaming Transformer that jointly reconstructs dynamic 4D scenes and maintains object identities from continuous video. It advances online spatial intelligence by unifying camera motion, geometry, and temporally consistent instances over long sequences.

• Processes frames sequentially using causal spatial-temporal modeling and reused historical context.
• Incrementally tracks camera motion, scene geometry, and object identity in one representation.
• Introduces InsScene4D-147K, covering real, synthetic, static, and dynamic scenes with geometry-guided annotations.
• Outperforms reported streaming baselines across reconstruction, pose estimation, instance tracking, and open-vocabulary segmentation.