Dyna3: VLM-Guided Training-Free 4D Reconstruction via Depth Foundation Models

arXiv:2610.01286 · cs.CV · Submitted 2026-10-01 · Read on arXiv

cs.CV

Submitted: 2026-10-01

Updated: 2026-10-01

License: http://creativecommons.org/licenses/by/4.0/

The gist: Recent depth foundation models like Depth Anything 3 (DA3) achieve remarkable multi-view depth estimation but assume static 3D scenes, limiting their applicability to real-world dynamic environments.

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Abstract

Recent depth foundation models like Depth Anything 3 (DA3) achieve remarkable multi-view depth estimation but assume static 3D scenes, limiting their applicability to real-world dynamic environments. Existing training-free 4D methods like Easi3R and VGGT4D rely on correspondence-trained backbones whose attention encodes cross-frame matching, a property absent in depth-only models like DA3. We present Dyna3, a training-free framework that extends DA3 for 4D dynamic scene reconstruction without any fine-tuning. Our key insight is that DA3's cross-view features, though trained only for depth consistency, implicitly encode motion-discriminative signals when combined with best-match feature search across frames. Its static surfaces find consistent matches globally, while dynamic objects cannot. We further adopt vision-language models (VLM) to automatically generate scene-specific semantic prompts for SAM 3, enabling precise instance-level segmentation that distinguishes which objects move from what objects exist. For reconstruction, we decouple the scene into a cross-frame aligned static background and per-frame dynamic point clouds. Experiments on four datasets demonstrate that Dyna3 surpasses correspondence-trained methods with +5.5pp J-Mean over state-of-the-art VGGT4D on dynamic object segmentation, while achieving up to 13x faster pose estimation and 3x faster 4D reconstruction with 4 to 8x lower memory. Dyna3 could therefore enable much denser temporal sampling that prior methods cannot support.

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