# AnalogDepth: Multi-view Geometry from FPV drones under Analog Video Transmission

arXiv: https://arxiv.org/abs/2609.24312 · HTML: https://mlsanity.com/paper/2609.24312/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 18 of its 19 references that are in the map.
- First posted on arXiv 21 Sep 2026.

## Builds on (most cited first, 18 of 18)

- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [FlashAttention-2: Faster Attention with Better Parallelism and Work Partitioning](https://mlsanity.com/paper/2307.08691/) (2023)
- [Restormer: Efficient Transformer for High-Resolution Image Restoration](https://mlsanity.com/paper/2111.09881/) (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)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [Grounding Image Matching in 3D with MASt3R](https://mlsanity.com/paper/2406.09756/) (2024)
- [A Point Set Generation Network for 3D Object Reconstruction from a Single Image](https://mlsanity.com/paper/1612.00603/) (2016)
- [Simple Baselines for Image Restoration](https://mlsanity.com/paper/2204.04676/) (2022)
- [Depth Anything 3: Recovering the Visual Space from Any Views](https://mlsanity.com/paper/2511.10647/) (2025)
- [LightGlue: Local Feature Matching at Light Speed](https://mlsanity.com/paper/2306.13643/) (2023)
- [TartanAir: A Dataset to Push the Limits of Visual SLAM](https://mlsanity.com/paper/2003.14338/) (2020)
- [Depth Pro: Sharp Monocular Metric Depth in Less Than a Second](https://mlsanity.com/paper/2410.02073/) (2024)
- [PromptIR: Prompting for All-in-One Blind Image Restoration](https://mlsanity.com/paper/2306.13090/) (2023)
- [Robust Monocular Depth Estimation under Challenging Conditions](https://mlsanity.com/paper/2308.09711/) (2023)
- [RoboDepth: Robust Out-of-Distribution Depth Estimation under Corruptions](https://mlsanity.com/paper/2310.15171/) (2023)
- [Always Clear Depth: Robust Monocular Depth Estimation under Adverse Weather](https://mlsanity.com/paper/2505.12199/) (2025)
- [Probabilistic RGB-D Odometry based on Points, Lines and Planes Under Depth Uncertainty](https://mlsanity.com/paper/1706.04034/) (2017)

## Abstract (arXiv)

Analog video transmission (VTX) remains widespread in FPV drones due to low latency, weight and low cost. However analog VTX suffers from complex spatially structured image degradation which differ fundamentally from digital image corruption (e.g. AWGN) used in standard training augmentation. This work shows that this type of noise severely degrades the accuracy of Depth Anything 3 (DA3), a state-of-the-art feed forward visual geometry foundation model. To address this gap, we present AnalogDepth, a parameter-efficient training pipeline that adapts DA3 to analog FPV imagery using student-teacher knowledge distillation with Low-Rank Adaptation (LoRA) injected into the DINOv2 backbone. Rather than synthesizing noise analytically, we build a noise bank from static FPV recordings under diverse conditions and compare real-noise injection against PSD-matched Gaussian synthesis and AWGN as baselines. Experiments on six real FPV flight sequences across three indoor scenes show that training with our noise bank consistently reduces per-frame depth RMSE and 3D reconstruction Chamfer distance compared to the pretrained DA3 baseline and both Gaussian noise variants. These results demonstrate that replicating the spatial structure of real analog transmission noise is critical for effective adaptation.