# WildDepth: A Multimodal Dataset for 3D Wildlife Perception and Depth Estimation

arXiv: https://arxiv.org/abs/2603.16816 · HTML: https://mlsanity.com/paper/2603.16816/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 19 of its 31 references that are in the map.
- First posted on arXiv 17 Mar 2026.

## Builds on (most cited first, 19 of 19)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [AMASS: Archive of Motion Capture as Surface Shapes](https://mlsanity.com/paper/1904.03278/) (2019)
- [ByteTrack: Multi-Object Tracking by Associating Every Detection Box](https://mlsanity.com/paper/2110.06864/) (2021)
- [KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D](https://mlsanity.com/paper/2109.13410/) (2021)
- [VideoMAE V2: Scaling Video Masked Autoencoders with Dual Masking](https://mlsanity.com/paper/2303.16727/) (2023)
- [Depth Pro: Sharp Monocular Metric Depth in Less Than a Second](https://mlsanity.com/paper/2410.02073/) (2024)
- [MoGe-2: Accurate Monocular Geometry with Metric Scale and Sharp Details](https://mlsanity.com/paper/2507.02546/) (2025)
- [Robot Operating System 2: Design, Architecture, and Uses In The Wild](https://mlsanity.com/paper/2211.07752/) (2022)
- [Audiovisual SlowFast Networks for Video Recognition](https://mlsanity.com/paper/2001.08740/) (2020)
- [Animal Kingdom: A Large and Diverse Dataset for Animal Behavior Understanding](https://mlsanity.com/paper/2204.08129/) (2022)
- [Efficient Pipeline for Camera Trap Image Review](https://mlsanity.com/paper/1907.06772/) (2019)
- [SuperAnimal pretrained pose estimation models for behavioral analysis](https://mlsanity.com/paper/2203.07436/) (2022)
- [Gaussian Splashing: Unified Particles for Versatile Motion Synthesis and Rendering](https://mlsanity.com/paper/2401.15318/) (2024)
- [MammalNet: A Large-scale Video Benchmark for Mammal Recognition and Behavior Understanding](https://mlsanity.com/paper/2306.00576/) (2023)
- [ChimpACT: A Longitudinal Dataset for Understanding Chimpanzee Behaviors](https://mlsanity.com/paper/2310.16447/) (2023)
- [BaboonLand Dataset: Tracking Primates in the Wild and Automating Behaviour Recognition from Drone Videos](https://mlsanity.com/paper/2405.17698/) (2024)
- [MammAlps: A multi-view video behavior monitoring dataset of wild mammals in the Swiss Alps](https://mlsanity.com/paper/2503.18223/) (2025)

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

- [ORMA: Optimization-based Monocular 4D Reconstruction of Articulated Animals](https://mlsanity.com/paper/2609.37986/) (2026)

## Abstract (arXiv)

Depth estimation and 3D reconstruction have been extensively studied as core topics in computer vision. Starting from rigid objects with relatively simple geometric shapes, such as vehicles, the research has expanded to address general objects, including challenging deformable objects, such as humans and animals. However, for the animal, in particular, the majority of existing models are trained based on datasets without metric scale, which can help validate image-only models. To address this limitation, we present WildDepth, a multimodal dataset and benchmark suite for depth estimation, behavior detection, and 3D reconstruction from diverse categories of animals ranging from domestic to wild environments with synchronized RGB and LiDAR. Experimental results show that the use of multi-modal data improves depth reliability by up to 10% RMSE, while RGB-LiDAR fusion enhances 3D reconstruction fidelity by 12% in Chamfer distance. By releasing WildDepth and its benchmarks, we aim to foster robust multimodal perception systems that generalize across domains.