# Learning Image-Adaptive Scale Fields for Metric Depth Recovery

arXiv: https://arxiv.org/abs/2605.07418 · HTML: https://mlsanity.com/paper/2605.07418/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 19 of its 29 references that are in the map.
- First posted on arXiv 8 May 2026.

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

- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [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)
- [Unsupervised Monocular Depth Estimation with Left-Right Consistency](https://mlsanity.com/paper/1609.03677/) (2016)
- [Deep Ordinal Regression Network for Monocular Depth Estimation](https://mlsanity.com/paper/1806.02446/) (2018)
- [AdaBins: Depth Estimation using Adaptive Bins](https://mlsanity.com/paper/2011.14141/) (2020)
- [Depth Pro: Sharp Monocular Metric Depth in Less Than a Second](https://mlsanity.com/paper/2410.02073/) (2024)
- [Deeper Depth Prediction with Fully Convolutional Residual Networks](https://mlsanity.com/paper/1606.00373/) (2016)
- [Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Image](https://mlsanity.com/paper/2307.10984/) (2023)
- [OneFormer: One Transformer to Rule Universal Image Segmentation](https://mlsanity.com/paper/2211.06220/) (2022)
- [All for One, and One for All: UrbanSyn Dataset, the third Musketeer of Synthetic Driving Scenes](https://mlsanity.com/paper/2312.12176/) (2023)
- [HI-SLAM2: Geometry-Aware Gaussian SLAM for Fast Monocular Scene Reconstruction](https://mlsanity.com/paper/2411.17982/) (2024)
- [Towards 3D Scene Reconstruction from Locally Scale-Aligned Monocular Video Depth](https://mlsanity.com/paper/2202.01470/) (2022)
- [A Real-Time Error Prevention System for Gaze-Based Interaction in Virtual Reality Based on Anomaly Detection](https://mlsanity.com/paper/2601.15146/) (2026)
- [A Simple yet Effective Test-Time Adaptation for Zero-Shot Monocular Metric Depth Estimation](https://mlsanity.com/paper/2412.14103/) (2024)
- [Region-aware Depth Scale Adaptation with Sparse Measurements](https://mlsanity.com/paper/2507.14879/) (2025)

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

- [GAUGE: Group-Wise View-Inconsistency Rectification for Feed-Forward 4D Tracking](https://mlsanity.com/paper/2609.32596/) (2026)

## Abstract (arXiv)

Monocular depth estimation (MDE) typically produces depth estimations that are defined up to an unknown scale or shift. When only sparse metric anchors are available, recovering accurate metric depth becomes challenging yet necessary for practical applications. We address this problem by formulating metric depth recovery as image-adaptive scale field modeling. Instead of directly correcting the depth, we reformulate the correction as a low-dimensional linear combination of image-adaptive basis maps. These maps are derived from semantic and geometric cues encoded in the MDE estimations and intermediate representations. The weights of basis maps are efficiently determined from sparse metric anchors via a least-squares problem. This formulation yields improved metric depth accuracy, strong robustness under extreme anchor sparsity, and an interpretable decomposition of spatial scale variations. Extensive experiments across multiple datasets and representative MDE models demonstrate the effectiveness and general applicability of our approach.