A training-free RANSAC-based fusion of depth foundation model priors with sensor data recovers accurate metric depth on glass, supported by a new GlassRecon RGB-D dataset with derived ground truth.
Frozen- recon: Pose-free 3d scene reconstruction with frozen depth models,
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Enhancing Glass Surface Reconstruction via Depth Prior for Robot Navigation
A training-free RANSAC-based fusion of depth foundation model priors with sensor data recovers accurate metric depth on glass, supported by a new GlassRecon RGB-D dataset with derived ground truth.