# RS3DBench: A Comprehensive Benchmark for 3D Spatial Perception in Remote Sensing

arXiv: https://arxiv.org/abs/2509.18897 · HTML: https://mlsanity.com/paper/2509.18897/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 28 of its 54 references that are in the map.
- First posted on arXiv 23 Sep 2025.

## Builds on (most cited first, 28 of 28)

- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (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)
- [ChatGLM: A Family of Large Language Models from GLM-130B to GLM-4 All Tools](https://mlsanity.com/paper/2406.12793/) (2024)
- [AdaBins: Depth Estimation using Adaptive Bins](https://mlsanity.com/paper/2011.14141/) (2020)
- [Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environments](https://mlsanity.com/paper/2004.02857/) (2020)
- [Room-Across-Room: Multilingual Vision-and-Language Navigation with Dense Spatiotemporal Grounding](https://mlsanity.com/paper/2010.07954/) (2020)
- [From Big to Small: Multi-Scale Local Planar Guidance for Monocular Depth Estimation](https://mlsanity.com/paper/1907.10326/) (2019)
- [Omnidata: A Scalable Pipeline for Making Multi-Task Mid-Level Vision Datasets from 3D Scans](https://mlsanity.com/paper/2110.04994/) (2021)
- [Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation](https://mlsanity.com/paper/2312.02145/) (2023)
- [Exploring Models and Data for Remote Sensing Image Caption Generation](https://mlsanity.com/paper/1712.07835/) (2017)
- [MatrixCity: A Large-scale City Dataset for City-scale Neural Rendering and Beyond](https://mlsanity.com/paper/2309.16553/) (2023)
- [BinsFormer: Revisiting Adaptive Bins for Monocular Depth Estimation](https://mlsanity.com/paper/2204.00987/) (2022)
- [RS5M and GeoRSCLIP: A Large Scale Vision-Language Dataset and A Large Vision-Language Model for Remote Sensing](https://mlsanity.com/paper/2306.11300/) (2023)
- [VRSBench: A Versatile Vision-Language Benchmark Dataset for Remote Sensing Image Understanding](https://mlsanity.com/paper/2406.12384/) (2024)
- [Capturing, Reconstructing, and Simulating: the UrbanScene3D Dataset](https://mlsanity.com/paper/2107.04286/) (2021)
- [P3Depth: Monocular Depth Estimation with a Piecewise Planarity Prior](https://mlsanity.com/paper/2204.02091/) (2022)
- [A Survey on Deep Learning Techniques for Stereo-based Depth Estimation](https://mlsanity.com/paper/2006.02535/) (2020)
- [Rethinking Depth Estimation for Multi-View Stereo: A Unified Representation](https://mlsanity.com/paper/2201.01501/) (2022)
- [Hierarchical Normalization for Robust Monocular Depth Estimation](https://mlsanity.com/paper/2210.09670/) (2022)
- [All in Tokens: Unifying Output Space of Visual Tasks via Soft Token](https://mlsanity.com/paper/2301.02229/) (2023)
- [Marigold-DC: Zero-Shot Monocular Depth Completion with Guided Diffusion](https://mlsanity.com/paper/2412.13389/) (2024)
- [Multi-View Depth Estimation by Fusing Single-View Depth Probability with Multi-View Geometry](https://mlsanity.com/paper/2112.08177/) (2021)
- [Monocular Fisheye Camera Depth Estimation Using Sparse LiDAR Supervision](https://mlsanity.com/paper/1803.06192/) (2018)
- [DOC-Depth: A novel approach for dense depth ground truth generation](https://mlsanity.com/paper/2502.02144/) (2025)

## Built on by (most cited first, 1 of 1)

- [D3-RSMDE: 40× Faster and High-Fidelity Remote Sensing Monocular Depth Estimation](https://mlsanity.com/paper/2603.16362/) (2026)

## Abstract (arXiv)

In this paper, we introduce a novel benchmark designed to propel the advancement of general-purpose, large-scale 3D vision models for remote sensing imagery. While several datasets have been proposed within the realm of remote sensing, many existing collections either lack comprehensive depth information or fail to establish precise alignment between depth data and remote sensing images. To address this deficiency, we present a visual Benchmark for 3D understanding of Remotely Sensed images, dubbed RS3DBench. This dataset encompasses 54,951 pairs of remote sensing images and pixel-level aligned depth maps, accompanied by corresponding textual descriptions, spanning a broad array of geographical contexts. It serves as a tool for training and assessing 3D visual perception models within remote sensing image spatial understanding tasks. Furthermore, we introduce a remotely sensed depth estimation model derived from stable diffusion, harnessing its multimodal fusion capabilities, thereby delivering state-of-the-art performance on our dataset. Our endeavor seeks to make a profound contribution to the evolution of 3D visual perception models and the advancement of geographic artificial intelligence within the remote sensing domain. The dataset, models and code will be accessed on the https://rs3dbench.github.io.