# BED-SAM2: Boundary-Enhanced-Depth SAM2 via Monocular Geometric Priors

arXiv: https://arxiv.org/abs/2605.24893 · HTML: https://mlsanity.com/paper/2605.24893/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 35 of its 54 references that are in the map.
- First posted on arXiv 24 May 2026.

## Builds on (most cited first, 30 of 35)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [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)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [SAM 2: Segment Anything in Images and Videos](https://mlsanity.com/paper/2408.00714/) (2024)
- [Structure-measure: A New Way to Evaluate Foreground Maps](https://mlsanity.com/paper/1708.00786/) (2017)
- [PraNet: Parallel Reverse Attention Network for Polyp Segmentation](https://mlsanity.com/paper/2006.11392/) (2020)
- [U2-Net: Going Deeper with Nested U-Structure for Salient Object Detection](https://mlsanity.com/paper/2005.09007/) (2020)
- [Enhanced-alignment Measure for Binary Foreground Map Evaluation](https://mlsanity.com/paper/1805.10421/) (2018)
- [Hiera: A Hierarchical Vision Transformer without the Bells-and-Whistles](https://mlsanity.com/paper/2306.00989/) (2023)
- [Anabranch Network for Camouflaged Object Segmentation](https://mlsanity.com/paper/2105.09451/) (2021)
- [Concealed Object Detection](https://mlsanity.com/paper/2102.10274/) (2021)
- [The Secrets of Salient Object Segmentation](https://mlsanity.com/paper/1406.2807/) (2014)
- [Simultaneously Localize, Segment and Rank the Camouflaged Objects](https://mlsanity.com/paper/2103.04011/) (2021)
- [Visual Saliency Based on Multiscale Deep Features](https://mlsanity.com/paper/1503.08663/) (2015)
- [Receptive Field Block Net for Accurate and Fast Object Detection](https://mlsanity.com/paper/1711.07767/) (2017)
- [Rethinking RGB-D Salient Object Detection: Models, Data Sets, and Large-Scale Benchmarks](https://mlsanity.com/paper/1907.06781/) (2019)
- [Salient Object Detection via Integrity Learning](https://mlsanity.com/paper/2101.07663/) (2021)
- [Bilateral Reference for High-Resolution Dichotomous Image Segmentation](https://mlsanity.com/paper/2401.03407/) (2024)
- [Towards High-Resolution Salient Object Detection](https://mlsanity.com/paper/1908.07274/) (2019)
- [EDN: Salient Object Detection via Extremely-Downsampled Network](https://mlsanity.com/paper/2012.13093/) (2020)
- [SAM2-UNet: Segment Anything 2 Makes Strong Encoder for Natural and Medical Image Segmentation](https://mlsanity.com/paper/2408.08870/) (2024)
- [Pyramid Grafting Network for One-Stage High Resolution Saliency Detection](https://mlsanity.com/paper/2204.05041/) (2022)
- [SAM2-Adapter: Evaluating & Adapting Segment Anything 2 in Downstream Tasks: Camouflage, Shadow, Medical Image Segmentation, and More](https://mlsanity.com/paper/2408.04579/) (2024)
- [VSCode: General Visual Salient and Camouflaged Object Detection with 2D Prompt Learning](https://mlsanity.com/paper/2311.15011/) (2023)
- [RGB-D Saliency Detection via Cascaded Mutual Information Minimization](https://mlsanity.com/paper/2109.07246/) (2021)

## Abstract (arXiv)

Building upon the SAM2 vision foundation model for downstream segmentation, this study introduces Boundary Enhanced Depth (BED)-SAM2. The SAM2 Hiera encoder architecture is modified to directly encode monocular depth information from RGB images, thereby providing geometric cues that enhance object boundary delineation and facilitate the extraction of camouflaged object shapes. BED-SAM2 demonstrates competitive state-of-the-art performance across multiple salient and camouflaged object detection tasks with as few as five training epochs.