Honey, I Shrunk the Arc de Triomphe!
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Abstract (arXiv)
Metric scale monocular geometry estimation has seen significant progress through large-scale data aggregation, yet current foundation models suffer from a persistent ''scale-collapse'' phenomenon: distant landmarks and vast landscapes are metrically underestimated. We hypothesize that this performance gap stems from a training data bottleneck, where existing metric-scale datasets are hardware-constrained to homogenous vehicle-captured LiDAR or short-range indoor scans, or consist of synthetic data that lacks the semantic complexity of the physical world. To bridge this gap, we curate a new metrically-grounded, in-the-wild dataset that we call MetricScenes, gathered from a variety of sources including Internet photo collections and stereo imagery. We estimate camera poses and initial depth maps for each scene using off-the-shelf methods, and recover absolute scale from geo-tagged metadata as well as known stereo camera baselines. We also improve the quality of depth maps derived from MetricScenes via a new two-stage Poisson completion method. Fine-tuning MoGe-2 on our dataset significantly mitigates scale-collapse and achieves superior metric accuracy in unconstrained, open-domain scenes while maintaining state-of-the-art performance on standard benchmarks.
Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 37 of its 44 references that are in the map. First posted on arXiv 1 Jun 2026.
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37 of 44 references.
References · 37
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- 2018MegaDepth: Learning Single-View Depth Prediction from Internet Photoscited by 737
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- 2021ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Datacited by 454
25 more
- 20193D Packing for Self-Supervised Monocular Depth Estimationcited by 439
- 2024Depth Pro: Sharp Monocular Metric Depth in Less Than a Secondcited by 404
- 2024Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimationcited by 395
- 2023Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Imagecited by 365
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- 2025π3: Permutation-Equivariant Visual Geometry Learningcited by 319
- 2025MapAnything: Universal Feed-Forward Metric 3D Reconstructioncited by 314
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