# Monocular One-Shot Metric-Depth Alignment for RGB-Based Robot Grasping

arXiv: https://arxiv.org/abs/2506.17110 · HTML: https://mlsanity.com/paper/2506.17110/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 35 references that are in the map.
- First posted on arXiv 20 Jun 2025.

## Builds on (most cited first, 26 of 26)

- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depth](https://mlsanity.com/paper/2302.12288/) (2023)
- [AdaBins: Depth Estimation using Adaptive Bins](https://mlsanity.com/paper/2011.14141/) (2020)
- [Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimation](https://mlsanity.com/paper/2404.15506/) (2024)
- [Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Image](https://mlsanity.com/paper/2307.10984/) (2023)
- [6-DOF GraspNet: Variational Grasp Generation for Object Manipulation](https://mlsanity.com/paper/1905.10520/) (2019)
- [Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes](https://mlsanity.com/paper/2103.14127/) (2021)
- [Learning to Recover 3D Scene Shape from a Single Image](https://mlsanity.com/paper/2012.09365/) (2020)
- [AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains](https://mlsanity.com/paper/2212.08333/) (2022)
- [Single-Image Depth Perception in the Wild](https://mlsanity.com/paper/1604.03901/) (2016)
- [MiDaS v3.1 -- A Model Zoo for Robust Monocular Relative Depth Estimation](https://mlsanity.com/paper/2307.14460/) (2023)
- [ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation](https://mlsanity.com/paper/1910.02550/) (2019)
- [LocalBins: Improving Depth Estimation by Learning Local Distributions](https://mlsanity.com/paper/2203.15132/) (2022)
- [GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF](https://mlsanity.com/paper/2210.06575/) (2022)
- [RGB-D Local Implicit Function for Depth Completion of Transparent Objects](https://mlsanity.com/paper/2104.00622/) (2021)
- [OASIS: A Large-Scale Dataset for Single Image 3D in the Wild](https://mlsanity.com/paper/2007.13215/) (2020)
- [ClearPose: Large-scale Transparent Object Dataset and Benchmark](https://mlsanity.com/paper/2203.03890/) (2022)
- [SuctionNet-1Billion: A Large-Scale Benchmark for Suction Grasping](https://mlsanity.com/paper/2103.12311/) (2021)
- [MonoGraspNet: 6-DoF Grasping with a Single RGB Image](https://mlsanity.com/paper/2209.13036/) (2022)
- [RGBGrasp: Image-based Object Grasping by Capturing Multiple Views during Robot Arm Movement with Neural Radiance Fields](https://mlsanity.com/paper/2311.16592/) (2023)
- [Towards 3D Scene Reconstruction from Locally Scale-Aligned Monocular Video Depth](https://mlsanity.com/paper/2202.01470/) (2022)
- [ASGrasp: Generalizable Transparent Object Reconstruction and 6-DoF Grasp Detection from RGB-D Active Stereo Camera](https://mlsanity.com/paper/2405.05648/) (2024)

## Built on by (most cited first, 2 of 2)

- [Test-Time Adaptation for Height Completion via Self-Supervised ViT Features and Monocular Foundation Models](https://mlsanity.com/paper/2604.02009/) (2026)
- [Monocular Depth Estimation from a Single Image: Progress and Opportunities](https://mlsanity.com/paper/2609.01172/) (2026)

## Abstract (arXiv)

Accurate 6D object pose estimation is a prerequisite for successfully completing robotic prehensile and non-prehensile manipulation tasks. At present, 6D pose estimation for robotic manipulation generally relies on depth sensors based on, e.g., structured light, time-of-flight, and stereo-vision, which can be expensive, produce noisy output (as compared with RGB cameras), and fail to handle transparent objects. On the other hand, state-of-the-art monocular depth estimation models (MDEMs) provide only affine-invariant depths up to an unknown scale and shift. Metric MDEMs achieve some successful zero-shot results on public datasets, but fail to generalize. We propose a novel framework, Monocular One-shot Metric-depth Alignment (MOMA), to recover metric depth from a single RGB image, through a one-shot adaptation building on MDEM techniques. MOMA performs scale-rotation-shift alignments during camera calibration, guided by sparse ground-truth depth points, enabling accurate depth estimation without additional data collection or model retraining on the testing setup. MOMA supports fine-tuning the MDEM on transparent objects, demonstrating strong generalization capabilities. Real-world experiments on tabletop 2-finger grasping and suction-based bin-picking applications show MOMA achieves high success rates in diverse tasks, confirming its effectiveness.