# 2K Retrofit: Entropy-Guided Efficient Sparse Refinement for High-Resolution 3D Geometry Prediction

arXiv: https://arxiv.org/abs/2603.19964 · HTML: https://mlsanity.com/paper/2603.19964/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 76 of its 91 references that are in the map.
- First posted on arXiv 20 Mar 2026.

## Builds on (most cited first, 30 of 76)

- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World](https://mlsanity.com/paper/1703.06907/) (2017)
- [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)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [Token Merging: Your ViT But Faster](https://mlsanity.com/paper/2210.09461/) (2022)
- [Grounding Image Matching in 3D with MASt3R](https://mlsanity.com/paper/2406.09756/) (2024)
- [DynamicViT: Efficient Vision Transformers with Dynamic Token Sparsification](https://mlsanity.com/paper/2106.02034/) (2021)
- [A Review of Uncertainty Quantification in Deep Learning: Techniques, Applications and Challenges](https://mlsanity.com/paper/2011.06225/) (2020)
- [MVSNet: Depth Inference for Unstructured Multi-view Stereo](https://mlsanity.com/paper/1804.02505/) (2018)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [MegaDepth: Learning Single-View Depth Prediction from Internet Photos](https://mlsanity.com/paper/1804.00607/) (2018)
- [Differentiable Volumetric Rendering: Learning Implicit 3D Representations without 3D Supervision](https://mlsanity.com/paper/1912.07372/) (2019)
- [Depth Anything 3: Recovering the Visual Space from Any Views](https://mlsanity.com/paper/2511.10647/) (2025)
- [ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depth](https://mlsanity.com/paper/2302.12288/) (2023)
- [DL3DV-10K: A Large-Scale Scene Dataset for Deep Learning-based 3D Vision](https://mlsanity.com/paper/2312.16256/) (2023)
- [BlendedMVS: A Large-scale Dataset for Generalized Multi-view Stereo Networks](https://mlsanity.com/paper/1911.10127/) (2019)
- [Predicting Depth, Surface Normals and Semantic Labels with a Common Multi-Scale Convolutional Architecture](https://mlsanity.com/paper/1411.4734/) (2014)
- [PointRend: Image Segmentation as Rendering](https://mlsanity.com/paper/1912.08193/) (2019)
- [Cascade Cost Volume for High-Resolution Multi-View Stereo and Stereo Matching](https://mlsanity.com/paper/1912.06378/) (2019)
- [Depth Pro: Sharp Monocular Metric Depth in Less Than a Second](https://mlsanity.com/paper/2410.02073/) (2024)
- [Not All Patches are What You Need: Expediting Vision Transformers via Token Reorganizations](https://mlsanity.com/paper/2202.07800/) (2022)

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

- [EagleDepth: Efficient Fine-Grained Depth Estimation via Pixel Diffusion Decoder](https://mlsanity.com/paper/2610.04554/) (2026)

## Abstract (arXiv)

High-resolution geometric prediction is essential for robust perception in autonomous driving, robotics, and AR/MR, but current foundation models are fundamentally limited by their scalability to real-world, high-resolution scenarios. Direct inference on 2K images with these models incurs prohibitive computational and memory demands, making practical deployment challenging. To tackle the issue, we present 2K Retrofit, a novel framework that enables efficient 2K-resolution inference for any geometric foundation model, without modifying or retraining the backbone. Our approach leverages fast coarse predictions and an entropy-based sparse refinement to selectively enhance high-uncertainty regions, achieving precise and high-fidelity 2K outputs with minimal overhead. Extensive experiments on widely used benchmark demonstrate that 2K Retrofit consistently achieves state-of-the-art accuracy and speed, bridging the gap between research advances and scalable deployment in high-resolution 3D vision applications. Code will be released upon acceptance.