mlsanityData to 7 Oct 2026

MoGe: Unlocking Accurate Monocular Geometry Estimation for Open-Domain Images with Optimal Training Supervision

arXiv 2410.19115 ↗First posted 24 Oct 2024cs.CVcited by 290

Not on the map. Why?

Cited by 27 in Diffusion models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We present MoGe, a powerful model for recovering 3D geometry from monocular open-domain images. Given a single image, our model directly predicts a 3D point map of the captured scene with an affine-invariant representation, which is agnostic to true global scale and shift. This new representation precludes ambiguous supervision in training and facilitate effective geometry learning. Furthermore, we propose a set of novel global and local geometry supervisions that empower the model to learn high-quality geometry. These include a robust, optimal, and efficient point cloud alignment solver for accurate global shape learning, and a multi-scale local geometry loss promoting precise local geometry supervision. We train our model on a large, mixed dataset and demonstrate its strong generalizability and high accuracy. In our comprehensive evaluation on diverse unseen datasets, our model significantly outperforms state-of-the-art methods across all tasks, including monocular estimation of 3D point map, depth map, and camera field of view. Code and models can be found on our project page.

Key facts. Cited by 290 papers in the map (data through 7 Oct 2026). Builds on 52 of its 77 references that are in the map. First posted on arXiv 24 Oct 2024.

Builds on

52 of 77 references.

References · 52

  1. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 29,915
  2. 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,694
  3. 2023Segment Anythingcited by 8,158
  4. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,764
  5. 2021SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformerscited by 2,923
  6. 2016Aggregated Residual Transformations for Deep Neural Networkscited by 2,540
  7. 2021Convex optimizationcited by 2,479
  8. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  9. 2021Vision Transformers for Dense Predictioncited by 1,789
  10. 2023DUSt3R: Geometric 3D Vision Made Easycited by 1,526
  11. 2022Objaverse: A Universe of Annotated 3D Objectscited by 1,522
  12. 2019Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfercited by 1,484
38 more
  1. 2024Depth Anything V2cited by 1,385
  2. 2024Depth Anything: Unleashing the Power of Large-Scale Unlabeled Datacited by 1,346
  3. 2014Depth Map Prediction from a Single Image using a Multi-Scale Deep Networkcited by 1,264
  4. 2018MegaDepth: Learning Single-View Depth Prediction from Internet Photoscited by 731
  5. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 701
  6. 2023ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depthcited by 646
  7. 2018Taskonomy: Disentangling Task Transfer Learningcited by 631
  8. 2022Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Itemscited by 601
  9. 2020AdaBins: Depth Estimation using Adaptive Binscited by 596
  10. 2020Hypersim: A Photorealistic Synthetic Dataset for Holistic Indoor Scene Understandingcited by 593
  11. 2020TartanAir: A Dataset to Push the Limits of Visual SLAMcited by 494
  12. 2019BlendedMVS: A Large-scale Dataset for Generalized Multi-view Stereo Networkscited by 487
  13. 20193D Packing for Self-Supervised Monocular Depth Estimationcited by 437
  14. 2024Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimationcited by 389
  15. 2024UniDepth: Universal Monocular Metric Depth Estimationcited by 375
  16. 2023Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Imagecited by 357
  17. 2021Omnidata: A Scalable Pipeline for Making Multi-Task Mid-Level Vision Datasets from 3D Scanscited by 336
  18. 2017Sparsity Invariant CNNscited by 325
  19. 2019Structured3D: A Large Photo-realistic Dataset for Structured 3D Modelingcited by 285
  20. 2024GeoWizard: Unleashing the Diffusion Priors for 3D Geometry Estimation from a Single Imagecited by 283
  21. 2018DeepMVS: Learning Multi-view Stereopsiscited by 277
  22. 2019DIODE: A Dense Indoor and Outdoor DEpth Datasetcited by 236
  23. 2020Learning to Recover 3D Scene Shape from a Single Imagecited by 214
  24. 2023MatrixCity: A Large-scale City Dataset for City-scale Neural Rendering and Beyondcited by 185
  25. 2016Single-Image Depth Perception in the Wildcited by 179
  26. 2023MiDaS v3.1 -- A Model Zoo for Robust Monocular Relative Depth Estimationcited by 173
  27. 2023Spring: A High-Resolution High-Detail Dataset and Benchmark for Scene Flow, Optical Flow and Stereocited by 170
  28. 2022BinsFormer: Revisiting Adaptive Bins for Monocular Depth Estimationcited by 166
  29. 2019Cost Volume Pyramid Based Depth Inference for Multi-View Stereocited by 154
  30. 20193D Ken Burns Effect from a Single Imagecited by 128
  31. 2024DepthFM: Fast Monocular Depth Estimation with Flow Matchingcited by 76
  32. 2022Perspective Fields for Single Image Camera Calibrationcited by 75
  33. 2020OASIS: A Large-Scale Dataset for Single Image 3D in the Wildcited by 62
  34. 2020DiverseDepth: Affine-invariant Depth Prediction Using Diverse Datacited by 60
  35. 2022Towards Accurate Reconstruction of 3D Scene Shape from A Single Monocular Imagecited by 42
  36. 2019Flow-Motion and Depth Network for Monocular Stereo and Beyondcited by 37
  37. 2023Tame a Wild Camera: In-the-Wild Monocular Camera Calibrationcited by 34
  38. 2021CTRL-C: Camera calibration TRansformer with Line-Classificationcited by 33

50 most cited of 52 All 52 (JSON)

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 6; 2025: 116; 2026: 168.

290 papers.

Sort:

By area:

  1. 2025VGGT: Visual Geometry Grounded Transformercited by 1,475
  2. 2025Depth Anything 3: Recovering the Visual Space from Any Viewscited by 626
  3. 2025Continuous 3D Perception Model with Persistent Statecited by 527
  4. 2025MapAnything: Universal Feed-Forward Metric 3D Reconstructioncited by 295
  5. 2025π3: Permutation-Equivariant Visual Geometry Learningcited by 292
  6. 2025MoGe-2: Accurate Monocular Geometry with Metric Scale and Sharp Detailscited by 250
  7. 2025SAM 3D: 3Dfy Anything in Imagescited by 230
  8. 2025Video Depth Anything: Consistent Depth Estimation for Super-Long Videoscited by 202
  9. 2025CAST: Component-Aligned 3D Scene Reconstruction from an RGB Imagecited by 101
  10. 2024SLAM3R: Real-Time Dense Scene Reconstruction from Monocular RGB Videoscited by 100
  11. 2025Voyager: Long-Range and World-Consistent Video Diffusion for Explorable 3D Scene Generationcited by 93
  12. 2025HunyuanWorld 1.0: Generating Immersive, Explorable, and Interactive 3D Worlds from Words or Pixelscited by 91
38 more
  1. 2025St4RTrack: Simultaneous 4D Reconstruction and Tracking in the Worldcited by 88
  2. 2025SpatialTrackerV2: 3D Point Tracking Made Easycited by 84
  3. 2024Reloc3r: Large-Scale Training of Relative Camera Pose Regression for Generalizable, Fast, and Accurate Visual Localizationcited by 81
  4. 2025TAPIP3D: Tracking Any Point in Persistent 3D Geometrycited by 67
  5. 2024You See it, You Got it: Learning 3D Creation on Pose-Free Videos at Scalecited by 65
  6. 2025UniK3D: Universal Camera Monocular 3D Estimationcited by 60
  7. 2025GigaWorld-0: World Models as Data Engine to Empower Embodied AIcited by 60
  8. 2025OmniWorld: A Multi-Domain and Multi-Modal Dataset for 4D World Modelingcited by 59
  9. 2025MotionCanvas: Cinematic Shot Design with Controllable Image-to-Video Generationcited by 50
  10. 2025Pixel-Perfect Depth with Semantics-Prompted Diffusion Transformerscited by 47
  11. 2025SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulationcited by 46
  12. 2024Stereo Anywhere: Robust Zero-Shot Deep Stereo Matching Even Where Either Stereo or Mono Failcited by 45
  13. 2025Dens3R: A Foundation Model for 3D Geometry Predictioncited by 44
  14. 2025GigaBrain-0: A World Model-Powered Vision-Language-Action Modelcited by 43
  15. 2026Image Generators are Generalist Vision Learnerscited by 40
  16. 2025NovaFlow: Zero-Shot Manipulation via Actionable Flow from Generated Videoscited by 38
  17. 2025Lyra: Generative 3D Scene Reconstruction via Video Diffusion Model Self-Distillationcited by 37
  18. 2025GeometryCrafter: Consistent Geometry Estimation for Open-world Videos with Diffusion Priorscited by 36
  19. 2025Matrix-3D: Omnidirectional Explorable 3D World Generationcited by 33
  20. 2026LoGeR: Long-Context Geometric Reconstruction with Hybrid Memorycited by 33
  21. 2025MoVieS: Motion-Aware 4D Dynamic View Synthesis in One Secondcited by 31
  22. 2025MVSAnywhere: Zero-Shot Multi-View Stereocited by 26
  23. 2025Depth Any Panoramas: A Foundation Model for Panoramic Depth Estimationcited by 24
  24. 2026Masked Depth Modeling for Spatial Perceptioncited by 24
  25. 2025Advances in Feed-Forward 3D Reconstruction and View Synthesis: A Surveycited by 23
  26. 2026ABot-N0: Technical Report on the VLA Foundation Model for Versatile Embodied Navigationcited by 23
  27. 2026ZipMap: Linear-Time Stateful 3D Reconstruction via Test-Time Trainingcited by 23
  28. 2025DA2: Depth Anything in Any Directioncited by 22
  29. 2025DVGT: Driving Visual Geometry Transformercited by 20
  30. 2026VGGT-Omegacited by 20
  31. 2025MoRE: 3D Visual Geometry Reconstruction Meets Mixture-of-Expertscited by 19
  32. 2025Sharp Monocular View Synthesis in Less Than a Secondcited by 19
  33. 2026InfiniDepth: Arbitrary-Resolution and Fine-Grained Depth Estimation with Neural Implicit Fieldscited by 19
  34. 2024DepthCues: Evaluating Monocular Depth Perception in Large Vision Modelscited by 18
  35. 2025Relative Pose Estimation through Affine Corrections of Monocular Depth Priorscited by 18
  36. 2025MonoFusion: Sparse-View 4D Reconstruction via Monocular Fusioncited by 18
  37. 2025AnyCalib: On-Manifold Learning for Model-Agnostic Single-View Camera Calibrationcited by 17
  38. 2025Multi-View 3D Point Trackingcited by 17

50 most cited of 290 All 290 (JSON)