# LaRI: Layered Ray Intersections for Single-view 3D Geometric Reasoning

arXiv: https://arxiv.org/abs/2504.18424 · HTML: https://mlsanity.com/paper/2504.18424/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- Builds on 86 of its 108 references that are in the map.
- First posted on arXiv 25 Apr 2025.

## Builds on (most cited first, 30 of 86)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [DreamFusion: Text-to-3D using 2D Diffusion](https://mlsanity.com/paper/2209.14988/) (2022)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [SAM 2: Segment Anything in Images and Videos](https://mlsanity.com/paper/2408.00714/) (2024)
- [DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation](https://mlsanity.com/paper/1901.05103/) (2019)
- [Masked-attention Mask Transformer for Universal Image Segmentation](https://mlsanity.com/paper/2112.01527/) (2021)
- [Video Diffusion Models](https://mlsanity.com/paper/2204.03458/) (2022)
- [Occupancy Networks: Learning 3D Reconstruction in Function Space](https://mlsanity.com/paper/1812.03828/) (2018)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [pixelNeRF: Neural Radiance Fields from One or Few Images](https://mlsanity.com/paper/2012.02190/) (2020)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [Objaverse: A Universe of Annotated 3D Objects](https://mlsanity.com/paper/2212.08051/) (2022)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [Zero-1-to-3: Zero-shot One Image to 3D Object](https://mlsanity.com/paper/2303.11328/) (2023)
- [Deep High-Resolution Representation Learning for Visual Recognition](https://mlsanity.com/paper/1908.07919/) (2019)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [Grounding Image Matching in 3D with MASt3R](https://mlsanity.com/paper/2406.09756/) (2024)
- [A Point Set Generation Network for 3D Object Reconstruction from a Single Image](https://mlsanity.com/paper/1612.00603/) (2016)
- [LRM: Large Reconstruction Model for Single Image to 3D](https://mlsanity.com/paper/2311.04400/) (2023)
- [Accelerating 3D Deep Learning with PyTorch3D](https://mlsanity.com/paper/2007.08501/) (2020)
- [Structured 3D Latents for Scalable and Versatile 3D Generation](https://mlsanity.com/paper/2412.01506/) (2024)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [LGM: Large Multi-View Gaussian Model for High-Resolution 3D Content Creation](https://mlsanity.com/paper/2402.05054/) (2024)
- [ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depth](https://mlsanity.com/paper/2302.12288/) (2023)

## Built on by (most cited first, 8 of 8)

- [AMB3R: Accurate Feed-forward Metric-scale 3D Reconstruction with Backend](https://mlsanity.com/paper/2511.20343/) (2025)
- [Pixal3D: Pixel-Aligned 3D Generation from Images](https://mlsanity.com/paper/2605.10922/) (2026)
- [NOVA3R: Non-pixel-aligned Visual Transformer for Amodal 3D Reconstruction](https://mlsanity.com/paper/2603.04179/) (2026)
- [RaySt3R: Predicting Novel Depth Maps for Zero-Shot Object Completion](https://mlsanity.com/paper/2506.05285/) (2025)
- [World Tracing: Generative Pixel-Aligned Geometry Beyond the Visible](https://mlsanity.com/paper/2606.13652/) (2026)
- [Room Envelopes: A Synthetic Dataset for Indoor Layout Reconstruction from Images](https://mlsanity.com/paper/2511.03970/) (2025)
- [VolFill: Single-View Amodal 3D Scene Reconstruction with Volumetric Flow Matching](https://mlsanity.com/paper/2605.31466/) (2026)
- [Building Rome from a Single Image](https://mlsanity.com/paper/2610.08790/) (2026)

## Abstract (arXiv)

We present Layered Ray Intersections (LaRI), a fully supervised method for occluded geometry reasoning from a single image. Unlike conventional depth estimation, which is limited to visible surfaces, LaRI predicts multiple surfaces intersected by the camera rays using layered point maps. Compared to the existing approaches that leverage neural implicit representations or iterative refinement, LaRI achieves complete scene reconstruction in one feed-forward pass, enabling efficient and view-aligned geometric reasoning to underpin both object-level and scene-level tasks. We further propose to predict the ray stopping index, which identifies valid intersecting pixels and layers from LaRI's output. To better underpin and evaluate this task, we build an annotation pipeline using rendering engines, construct annotations for five public datasets, including synthetic and real-world data covering 3D objects and scenes. As a generic method, LaRI's performance is validated in object-level and scene-level reconstruction tasks.