A transformer predicts per-pixel CLIP embeddings, metric depth, NOCS coordinates, and fixed 3D Gaussians per object, supervised by canonical-space alignment after pose prediction, achieving SOTA on depth, segmentation, and category-level pose tasks.
Unidepthv2: Universal monocular metric depth estimation made simpler, 2025
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OCH3R: Object-Centric Holistic 3D Reconstruction
A transformer predicts per-pixel CLIP embeddings, metric depth, NOCS coordinates, and fixed 3D Gaussians per object, supervised by canonical-space alignment after pose prediction, achieving SOTA on depth, segmentation, and category-level pose tasks.