Metric scale monocular geometry estimation has seen significant progress through large-scale data aggregation, yet current foundation models suffer from a persistent ''scale-collapse'' phenomenon: distant landmarks and vast landscapes are metrically underestimated. We hypothesize that this performance gap stems from a training data bottleneck, where existing metric-scale datasets are hardware-constrained to homogenous vehicle-captured LiDAR or short-range indoor scans, or consist of synthetic data that lacks the semantic complexity of the physical world.
MessyKitchens introduces a new dataset of cluttered real-world kitchen scenes with detailed 3D object shapes, poses, and accurate contact information. The authors extend the SAM 3D single-object reconstruction method with a Multi-Object Decoder (MOD) to jointly reconstruct entire scenes, achieving better registration accuracy and reduced inter-object penetration compared to prior work. The dataset, benchmark, code, and pretrained models will be publicly released on the project website.
By Junaid Ahmed Ansari, Ran Ding, Fabio Pizzati, Ivan Laptev
arXiv:2609.25654v1 Announce Type: cross
Abstract: Robots operating safely in cluttered everyday environments often need to infer scene geometry from partial observations. Methods that detect objects...
By Dongwon Son, Junhyek Han, Yoontae Cho, Minseok Lee, Hong-seok Choi, Jiwook Choi, Hyungjin Kim, Beomjoon Kim
arXiv:2404.09431v3 Announce Type: replace
Abstract: Pseudo-LiDAR has become a promising paradigm for monocular 3D object detection by transforming monocular images into point cloud representations th...
By Bonan Ding, Jin Xie, Jing Nie, Jiale Cao, Yanwei Pang
Robots operating safely in cluttered everyday environments often need to infer scene geometry from partial observations. Methods that detect objects in 2D and reconstruct them independently struggle i...
arXiv:2608.22821v1 Announce Type: new
Abstract: We present SiZeUp, a fast and scalable approach for constructing large-scale 3D urban proxy models directly from calibrated oblique aerial imagery. Our...
By Wenjun Zhou, Yunshan Li, Qiaoyu Zhu, Weidan Xiong, Hao Zhang, Daniel Cohen-Or, Hui Huang