BlazeVGGT: 13x Faster VGGT at 2,000 Frames via Camera Token without Training

Abstract

Feed-forward visual geometry models, exemplified by VGGT, have demonstrated strong multi-view reconstruction capabilities through dense global attention. However, the resulting all-to-all cross-view computation scales quadratically with the number of input views, making long-sequence inference particularly expensive due to substantial frame-level redundancy among highly overlapping observations. We uncover a topology-first, geometry-later evolution in VGGT camera tokens: shallow-layer tokens reliably capture local view neighborhoods, whereas deeper-layer tokens progressively encode globally organized inter-view geometry. Motivated by this observation, we introduce BlazeVGGT, a training-free framework for structure-aware frame-level key--value sparsification. At each global-attention block, BlazeVGGT constructs a view-level similarity kernel from camera-token relations and employs greedy determinantal point process inference to select a compact set of mutually complementary views. The selected views constitute the key--value context, while all input frames are retained as queries. This asymmetric attention design preserves dense per-frame predictions while eliminating redundant cross-view computation, allowing our method to be directly integrated into pretrained VGGT as a plug-and-play module without parameter updates. Its advantages become increasingly pronounced with sequence length: at 2,000 frames, BlazeVGGT achieves approximately 13$\times$ faster inference than VGGT while reducing the Chamfer Distance from 0.41 to 0.32. Extensive experiments demonstrate a favorable accuracy--efficiency trade-off in point-cloud reconstruction and camera-pose estimation, compatibility with existing VGGT accelerators such as FastVGGT and LiteVGGT, and transferability to VGGT-based models including StreamVGGT and PAGE-4D. Codes are publicly available at https://github.com/MagiciannnY/BlazeVGGT.git.