# Depth Anything 3: Recovering the Visual Space from Any Views

arXiv: https://arxiv.org/abs/2511.10647 · HTML: https://mlsanity.com/paper/2511.10647/

## Key facts

- Cited by 692 papers in the map (data through 14 Oct 2026).
- Builds on 91 of its 119 references that are in the map.
- First posted on arXiv 13 Nov 2025.

## Builds on (most cited first, 30 of 91)

- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [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)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [SuperPoint: Self-Supervised Interest Point Detection and Description](https://mlsanity.com/paper/1712.07629/) (2017)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [Grounding Image Matching in 3D with MASt3R](https://mlsanity.com/paper/2406.09756/) (2024)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [Scene Representation Networks: Continuous 3D-Structure-Aware Neural Scene Representations](https://mlsanity.com/paper/1906.01618/) (2019)
- [LRM: Large Reconstruction Model for Single Image to 3D](https://mlsanity.com/paper/2311.04400/) (2023)
- [MVSNet: Depth Inference for Unstructured Multi-view Stereo](https://mlsanity.com/paper/1804.02505/) (2018)
- [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)
- [MVSNeRF: Fast Generalizable Radiance Field Reconstruction from Multi-View Stereo](https://mlsanity.com/paper/2103.15595/) (2021)
- [MegaDepth: Learning Single-View Depth Prediction from Internet Photos](https://mlsanity.com/paper/1804.00607/) (2018)
- [Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting](https://mlsanity.com/paper/2301.00493/) (2023)
- [pixelSplat: 3D Gaussian Splats from Image Pairs for Scalable Generalizable 3D Reconstruction](https://mlsanity.com/paper/2312.12337/) (2023)
- [Common Objects in 3D: Large-Scale Learning and Evaluation of Real-life 3D Category Reconstruction](https://mlsanity.com/paper/2109.00512/) (2021)
- [Taskonomy: Disentangling Task Transfer Learning](https://mlsanity.com/paper/1804.08328/) (2018)
- [SuGaR: Surface-Aligned Gaussian Splatting for Efficient 3D Mesh Reconstruction and High-Quality Mesh Rendering](https://mlsanity.com/paper/2311.12775/) (2023)
- [Hypersim: A Photorealistic Synthetic Dataset for Holistic Indoor Scene Understanding](https://mlsanity.com/paper/2011.02523/) (2020)
- [MVSplat: Efficient 3D Gaussian Splatting from Sparse Multi-View Images](https://mlsanity.com/paper/2403.14627/) (2024)

## Built on by (most cited first, 30 of 692)

- [Cosmos 3: Omnimodal World Models for Physical AI](https://mlsanity.com/paper/2606.02800/) (2026)
- [Advancing Open-source World Models](https://mlsanity.com/paper/2601.20540/) (2026)
- [Unified 4D World Action Modeling from Video Priors with Asynchronous Denoising](https://mlsanity.com/paper/2604.26694/) (2026)
- [RoMa v2: Harder Better Faster Denser Feature Matching](https://mlsanity.com/paper/2511.15706/) (2025)
- [Qwen-RobotManip Technical Report: Alignment Unlocks Scale for Robotic Manipulation Foundation Models](https://mlsanity.com/paper/2606.17846/) (2026)
- [NeoVerse: Enhancing 4D World Model with in-the-wild Monocular Videos](https://mlsanity.com/paper/2601.00393/) (2026)
- [Lyra 2.0: Explorable Generative 3D Worlds](https://mlsanity.com/paper/2604.13036/) (2026)
- [HY-World 2.0: A Multi-Modal World Model for Reconstructing, Generating, and Simulating 3D Worlds](https://mlsanity.com/paper/2604.14268/) (2026)
- [Image Generators are Generalist Vision Learners](https://mlsanity.com/paper/2604.20329/) (2026)
- [WBench: A Comprehensive Multi-turn Benchmark for Interactive Video World Model Evaluation](https://mlsanity.com/paper/2605.25874/) (2026)
- [LingBot-Map: Geometric Context Transformer for Streaming 3D Reconstruction](https://mlsanity.com/paper/2604.14141/) (2026)
- [LiveWorld: Simulating Out-of-Sight Dynamics in Generative Video World Models](https://mlsanity.com/paper/2603.07145/) (2026)
- [MosaicMem: Hybrid Spatial Memory for Controllable Video World Models](https://mlsanity.com/paper/2603.17117/) (2026)
- [WorldMark: A Unified Benchmark Suite for Interactive Video World Models](https://mlsanity.com/paper/2604.21686/) (2026)
- [VGGT-Omega](https://mlsanity.com/paper/2605.15195/) (2026)
- [WorldCompass: Reinforcement Learning for Long-Horizon World Models](https://mlsanity.com/paper/2602.09022/) (2026)
- [VGGRPO: Towards World-Consistent Video Generation with 4D Latent Reward](https://mlsanity.com/paper/2603.26599/) (2026)
- [VideoGPA: Distilling Geometry Priors for 3D-Consistent Video Generation](https://mlsanity.com/paper/2601.23286/) (2026)
- [4RC: 4D Reconstruction via Conditional Querying Anytime and Anywhere](https://mlsanity.com/paper/2602.10094/) (2026)
- [Utonia: Toward One Encoder for All Point Clouds](https://mlsanity.com/paper/2603.03283/) (2026)
- [DualCoT-VLA: Visual-Linguistic Chain of Thought via Parallel Reasoning for Vision-Language-Action Models](https://mlsanity.com/paper/2603.22280/) (2026)
- [RealX3D: A Physically-Degraded 3D Benchmark for Multi-view Visual Restoration and Reconstruction](https://mlsanity.com/paper/2512.23437/) (2025)
- [MV-SAM3D: Adaptive Multi-View Fusion for Layout-Aware 3D Generation](https://mlsanity.com/paper/2603.11633/) (2026)
- [MBench: A Comprehensive Benchmark on Memory Capability for Video World Models](https://mlsanity.com/paper/2606.00793/) (2026)
- [MVISTA-4D: View-Consistent 4D World Model with Test-Time Action Inference for Robotic Manipulation](https://mlsanity.com/paper/2602.09878/) (2026)
- [S-VAM: Shortcut Video-Action Model by Self-Distilling Geometric and Semantic Foresight](https://mlsanity.com/paper/2603.16195/) (2026)
- [DriveDreamer-Policy: A Geometry-Grounded World-Action Model for Unified Generation and Planning](https://mlsanity.com/paper/2604.01765/) (2026)
- [Latent Spatial Memory for Video World Models](https://mlsanity.com/paper/2606.09828/) (2026)
- [SpatialClaw: Rethinking Action Interface for Agentic Spatial Reasoning](https://mlsanity.com/paper/2606.13673/) (2026)
- [Hand2World: Autoregressive Egocentric Interaction Generation via Free-Space Hand Gestures](https://mlsanity.com/paper/2602.09600/) (2026)

## Abstract (arXiv)

We present Depth Anything 3 (DA3), a model that predicts spatially consistent geometry from an arbitrary number of visual inputs, with or without known camera poses. In pursuit of minimal modeling, DA3 yields two key insights: a single plain transformer (e.g., vanilla DINO encoder) is sufficient as a backbone without architectural specialization, and a singular depth-ray prediction target obviates the need for complex multi-task learning. Through our teacher-student training paradigm, the model achieves a level of detail and generalization on par with Depth Anything 2 (DA2). We establish a new visual geometry benchmark covering camera pose estimation, any-view geometry and visual rendering. On this benchmark, DA3 sets a new state-of-the-art across all tasks, surpassing prior SOTA VGGT by an average of 44.3% in camera pose accuracy and 25.1% in geometric accuracy. Moreover, it outperforms DA2 in monocular depth estimation. All models are trained exclusively on public academic datasets.