# Depth Any Panoramas: A Foundation Model for Panoramic Depth Estimation

arXiv: https://arxiv.org/abs/2512.16913 · HTML: https://mlsanity.com/paper/2512.16913/

## Key facts

- Cited by 25 papers in the map (data through 14 Oct 2026).
- Builds on 42 of its 50 references that are in the map.
- First posted on arXiv 18 Dec 2025.

## Builds on (most cited first, 30 of 42)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution](https://mlsanity.com/paper/2409.12191/) (2024)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [DINOv3](https://mlsanity.com/paper/2508.10104/) (2025)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [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)
- [Joint 2D-3D-Semantic Data for Indoor Scene Understanding](https://mlsanity.com/paper/1702.01105/) (2017)
- [Depth Pro: Sharp Monocular Metric Depth in Less Than a Second](https://mlsanity.com/paper/2410.02073/) (2024)
- [Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimation](https://mlsanity.com/paper/2404.15506/) (2024)
- [UniDepth: Universal Monocular Metric Depth Estimation](https://mlsanity.com/paper/2403.18913/) (2024)
- [Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Image](https://mlsanity.com/paper/2307.10984/) (2023)
- [MoGe: Unlocking Accurate Monocular Geometry Estimation for Open-Domain Images with Optimal Training Supervision](https://mlsanity.com/paper/2410.19115/) (2024)
- [Structured3D: A Large Photo-realistic Dataset for Structured 3D Modeling](https://mlsanity.com/paper/1908.00222/) (2019)
- [MoGe-2: Accurate Monocular Geometry with Metric Scale and Sharp Details](https://mlsanity.com/paper/2507.02546/) (2025)
- [UniDepthV2: Universal Monocular Metric Depth Estimation Made Simpler](https://mlsanity.com/paper/2502.20110/) (2025)
- [Lotus: Diffusion-based Visual Foundation Model for High-quality Dense Prediction](https://mlsanity.com/paper/2409.18124/) (2024)
- [PanoFormer: Panorama Transformer for Indoor 360 Depth Estimation](https://mlsanity.com/paper/2203.09283/) (2022)
- [UniFuse: Unidirectional Fusion for 360circ Panorama Depth Estimation](https://mlsanity.com/paper/2102.03550/) (2021)
- [UniK3D: Universal Camera Monocular 3D Estimation](https://mlsanity.com/paper/2503.16591/) (2025)
- [OmniFusion: 360 Monocular Depth Estimation via Geometry-Aware Fusion](https://mlsanity.com/paper/2203.00838/) (2022)
- [360MonoDepth: High-Resolution 360deg Monocular Depth Estimation](https://mlsanity.com/paper/2111.15669/) (2021)
- [EGformer: Equirectangular Geometry-biased Transformer for 360 Depth Estimation](https://mlsanity.com/paper/2304.07803/) (2023)
- [Depth Any Camera: Zero-Shot Metric Depth Estimation from Any Camera](https://mlsanity.com/paper/2501.02464/) (2025)
- [ACDNet: Adaptively Combined Dilated Convolution for Monocular Panorama Depth Estimation](https://mlsanity.com/paper/2112.14440/) (2021)
- [Depth Anywhere: Enhancing 360 Monocular Depth Estimation via Perspective Distillation and Unlabeled Data Augmentation](https://mlsanity.com/paper/2406.12849/) (2024)
- [HRDFuse: Monocular 360degDepth Estimation by Collaboratively Learning Holistic-with-Regional Depth Distributions](https://mlsanity.com/paper/2303.11616/) (2023)
- [Elite360D: Towards Efficient 360 Depth Estimation via Semantic- and Distance-Aware Bi-Projection Fusion](https://mlsanity.com/paper/2403.16376/) (2024)

## Built on by (most cited first, 25 of 25)

- [OmniRoam: World Wandering via Long-Horizon Panoramic Video Generation](https://mlsanity.com/paper/2603.30045/) (2026)
- [MemoBench: Benchmarking World Modeling in Dynamically Changing Environments](https://mlsanity.com/paper/2606.27537/) (2026)
- [SimWorlds: A Multi-Agent System for Dynamic 3D Scene Creation](https://mlsanity.com/paper/2607.01766/) (2026)
- [MTPano: Multi-Task Panoramic Scene Understanding via Label-Free Integration of Dense Prediction Priors](https://mlsanity.com/paper/2602.05330/) (2026)
- [PanoWorld: Towards Spatial Supersensing in 360^circ Panorama World](https://mlsanity.com/paper/2605.13169/) (2026)
- [PanoWorld: Geometry-Consistent Panoramic Video World Modeling](https://mlsanity.com/paper/2605.15391/) (2026)
- [PanoWorld: A Generative Spatial World Model for Consistent Whole-House Panorama Synthesis](https://mlsanity.com/paper/2605.17916/) (2026)
- [AerialMetric: Benchmarking and Adapting UAV Monocular Metric Depth Estimation in the Real World](https://mlsanity.com/paper/2606.29716/) (2026)
- [X-Lens: Real-Time Metric Depth Estimation with Heterogeneous Cameras](https://mlsanity.com/paper/2607.12993/) (2026)
- [Fly360: Omnidirectional Obstacle Avoidance within Drone View](https://mlsanity.com/paper/2603.06573/) (2026)
- [UniSHARP: Universal Sharp Monocular View Synthesis](https://mlsanity.com/paper/2606.07514/) (2026)
- [Unified Panoramic Geometry Estimation via Multi-View Foundation Models](https://mlsanity.com/paper/2605.26368/) (2026)
- [Panoramic Scene Understanding: A Survey from Distortion-Aware Engineering to Sphere-Native Modeling](https://mlsanity.com/paper/2606.27745/) (2026)
- [Argus: Metric Panoramic 3D Reconstruction for Indoor Scenes](https://mlsanity.com/paper/2606.30047/) (2026)
- [CasaMaestro: Multi-View Panoramas for House-Scale 3D Reconstruction](https://mlsanity.com/paper/2606.31086/) (2026)
- [H-OmniStereo: Zero-Shot Omnidirectional Stereo Matching with Heading-Aligned Normal Priors](https://mlsanity.com/paper/2605.14963/) (2026)
- [DepthMaster: Unified Monocular Depth Estimation for Perspective and Panoramic Images](https://mlsanity.com/paper/2606.12368/) (2026)
- [Enhancing In-context Panoramic Generation via Geometric-aware Pretraining](https://mlsanity.com/paper/2607.08765/) (2026)
- [Geometry and Gradient-based Partitioning for Panoramic Outdoor Reconstruction](https://mlsanity.com/paper/2607.08769/) (2026)
- [More Than Where You Are: Learning Semantics, Structure, and Geometry from Cross-View Localization](https://mlsanity.com/paper/2607.12429/) (2026)
- [Monocular Depth Estimation from a Single Image: Progress and Opportunities](https://mlsanity.com/paper/2609.01172/) (2026)
- [PanoFuse: Panorama-Enhanced Vision-Language-Action Learning with Decoupled Semantic-Geometric Routing](https://mlsanity.com/paper/2609.31717/) (2026)
- [PanoVLN: Towards Effective Panoramic Vision-and-Language Navigation](https://mlsanity.com/paper/2609.34759/) (2026)
- [Many Eyes, One World: Feed-Forward 3D Reconstruction from Mixed Cameras](https://mlsanity.com/paper/2609.35658/) (2026)
- [EPIC: Epipolar-Consistent 360deg Immersive Stereo Video Generation](https://mlsanity.com/paper/2609.38689/) (2026)

## Abstract (arXiv)

In this work, we present a panoramic metric depth foundation model that generalizes across diverse scene distances. We explore a data-in-the-loop paradigm from the view of both data construction and framework design. We collect a large-scale dataset by combining public datasets, high-quality synthetic data from our UE5 simulator and text-to-image models, and real panoramic images from the web. To reduce domain gaps between indoor/outdoor and synthetic/real data, we introduce a three-stage pseudo-label curation pipeline to generate reliable ground truth for unlabeled images. For the model, we adopt DINOv3-Large as the backbone for its strong pre-trained generalization, and introduce a plug-and-play range mask head, sharpness-centric optimization, and geometry-centric optimization to improve robustness to varying distances and enforce geometric consistency across views. Experiments on multiple benchmarks (e.g., Stanford2D3D, Matterport3D, and Deep360) demonstrate strong performance and zero-shot generalization, with particularly robust and stable metric predictions in diverse real-world scenes. The project page can be found at: hrefhttps://insta360-research-team.github.io/DAPwebsite/ https://insta360-research-team.github.io/DAPwebsite/