arXiv:2609.13903v1 Announce Type: new
Abstract: We study how to update a pre-built aerial scene with a newly captured, unposed ground-view sequence. The aerial scene already contains a reliable metri...
By Zhuoxiao Li, Xinyi Liu, Taoyu Wu, Yinrui Ren, Tongyan Hua, Ou Jing, Shuai Zhang, Dongli Wu, Rongjun Qin, Ge Lin Kan, Wufan Zhao
Pumpire introduces a unified benchmark for assessing metric point‑pair distance estimation in both image‑ and video‑level 3D foundation models, with or without depth priors. The benchmark uses a large, diverse dataset (pumpire‑6k) of 100 real‑world scenes, each annotated with physically measured point‑pair distances across 64 frames, totaling 6,400 frames. An evaluation protocol is provided that directly measures point‑to‑point distance errors, enabling cross‑setting comparison across 29 baseline 3D models.
By Siyu Chen, Zehan Wang, Jiayang Xu, Yihan Wu, Jialei Wang, Junming Chen, Ziang Zhang, Yutong Ying, Zhou Zhao
Monocular depth estimation is a fundamental prerequisite for 3D reconstruction and autonomous navigation in Unmanned Aerial Vehicles (UAVs). In practical deployments, UAVs operate under highly dynamic camera poses characterized by continuous variations in height, pitch, roll, and field of view (FOV).
We present FoundationGeo, a two-stage framework that explicitly bridges relative and metric prediction via spatial calibration and principled data design. Stage 1 learns a high-fidelity, affine-invariant geometry model by initializing with DINOv3 and training on a curated 10.
FounRef is a training‑free method that refines frozen monocular foundation priors into dense metric depth by aligning them with sparse metric anchors. It validates anchors against the prior’s predictions, rejects misaligned ones, and applies a structure‑preserving solver to correct depth globally and locally while preserving fine geometry. The approach works out of the box on unseen cameras and scenes, achieving up to 24% lower depth error, 92% lower surface‑normal noise, and nearly 15× faster inference than a leading depth‑completion network.
By Dan Halperin, Mirko M\"ahlisch
arXiv:2601. 22054v2 Announce Type: replace-cross Abstract: Scaling has powered recent advances in vision foundation models, yet extending this paradigm to metric depth estimation remains challenging due to heterogeneous sensor noise, camera-dependent biases, and metric ambiguity in noisy cross-source 3D data.
By Baorui Ma, Jiahui Yang, Donglin Di, Xuancheng Zhang, Jianxun Cui, Hao Li, Yan Xie, Wei Chen