# SS3D: End2End Self-Supervised 3D from Web Videos

arXiv: https://arxiv.org/abs/2604.22686 · HTML: https://mlsanity.com/paper/2604.22686/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 62 of its 77 references that are in the map.
- First posted on arXiv 24 Apr 2026.

## Builds on (most cited first, 30 of 62)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [ImageNet Large Scale Visual Recognition Challenge](https://mlsanity.com/paper/1409.0575/) (2014)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [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)
- [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)
- [Multi-Task Learning as Multi-Objective Optimization](https://mlsanity.com/paper/1810.04650/) (2018)
- [V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning](https://mlsanity.com/paper/2506.09985/) (2025)
- [Unsupervised Learning of Depth and Ego-Motion from Video](https://mlsanity.com/paper/1704.07813/) (2017)
- [Depth Anything 3: Recovering the Visual Space from Any Views](https://mlsanity.com/paper/2511.10647/) (2025)
- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depth](https://mlsanity.com/paper/2302.12288/) (2023)
- [AdaBins: Depth Estimation using Adaptive Bins](https://mlsanity.com/paper/2011.14141/) (2020)
- [Continuous 3D Perception Model with Persistent State](https://mlsanity.com/paper/2501.12387/) (2025)
- [3D Packing for Self-Supervised Monocular Depth Estimation](https://mlsanity.com/paper/1905.02693/) (2019)
- [UniDepth: Universal Monocular Metric Depth Estimation](https://mlsanity.com/paper/2403.18913/) (2024)
- [GeoNet: Unsupervised Learning of Dense Depth, Optical Flow and Camera Pose](https://mlsanity.com/paper/1803.02276/) (2018)
- [YouTube-8M: A Large-Scale Video Classification Benchmark](https://mlsanity.com/paper/1609.08675/) (2016)
- [MapAnything: Universal Feed-Forward Metric 3D Reconstruction](https://mlsanity.com/paper/2509.13414/) (2025)
- [Unsupervised Scale-consistent Depth and Ego-motion Learning from Monocular Video](https://mlsanity.com/paper/1908.10553/) (2019)
- [Competitive Collaboration: Joint Unsupervised Learning of Depth, Camera Motion, Optical Flow and Motion Segmentation](https://mlsanity.com/paper/1805.09806/) (2018)
- [The Temporal Opportunist: Self-Supervised Multi-Frame Monocular Depth](https://mlsanity.com/paper/2104.14540/) (2021)
- [On the uncertainty of self-supervised monocular depth estimation](https://mlsanity.com/paper/2005.06209/) (2020)

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

- [VLRC: Vision-Language Reprojection Consistency as a scalable signal for better feed-forward 3D pretraining](https://mlsanity.com/paper/2607.02707/) (2026)

## Abstract (arXiv)

We present SS3D, a web-scale SfM-based self-supervision pretraining pipeline for feed-forward 3D estimation from monocular video. Our model jointly predicts depth, ego-motion, and intrinsics in a single forward pass and is trained/evaluated as a coherent end-to-end 3D estimator. To stabilize joint learning, we use an intrinsics-first two-stage schedule and a unified single-checkpoint evaluation protocol. Scaling SfM self-supervision to unconstrained web video is challenging due to weak multi-view observability and strong corpus heterogeneity; we address these with a multi-view signal proxy (MVS) used for filtering and curriculum sampling, and with expert training distilled into a single student. Pretraining on YouTube-8M (~100M frames after filtering) yields strong cross-domain zero-shot transfer and improved fine-tuning performance over prior self-supervised baselines. We release the pretrained checkpoint and code.