MIRAGE: Metric Inference and Reliability-Aware Gaussian Estimation from Feed-Forward Vision

Feed-forward 3D priors enable high-quality reconstruction from image streams but often lack reliable metric scale and suffer from long-term trajectory drift. In contrast, LiDAR–inertial estimation provides metrically accurate motion but lacks the image-space consistency needed for high-fidelity reconstruction. We propose **MIRAGE**, which anchors feed-forward visual geometry to LiDAR–IMU metric motion and regulates online pose corrections according to correspondence support and cross-modal agreement, jointly enabling accurate metric pose estimation and high-fidelity Gaussian reconstruction. Experiments on Oxford Spires, M2DGR and INS show that MIRAGE achieves accurate metric trajectory estimation, outperforming COLMAP, a widely used but computationally expensive reference for vision-only benchmarks. Motivated by the scarcity of long-horizon monocular benchmarks for large-scale indoor reconstruction, we further build a multimodal data-collection platform and use MIRAGE to establish accurate 6-DoF reference trajectories for a new vision-only benchmark. We benchmark recent monocular large-scale reconstruction methods on this dataset, providing a systematic evaluation of their performance in long-horizon indoor scenes.