This is insanely impressive, looking at the 3D reconstruction results. If I'm not mistaken occlusions are where a lot of attentions being placed in pose estimat

This is insanely impressive, looking at the 3D reconstruction results. If I'm not mistaken occlusions are where a lot of attentions being placed in pose estimation problems, and if there are enough annotated environmental spaces to create ground truths you could probably add environment reconstruction to pose reconstruction. What's nice there is that if you have multiple angles of an environment from a moving camera in a video, you can treat each previous frame as a prior which helps with prediction time and accuracy.