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arxiv 2601.22054 v2 pith:NUPJRV7L submitted 2026-01-29 cs.CV cs.AI

MetricAnything: Scaling Metric Depth Pretraining with Noisy Heterogeneous Sources

classification cs.CV cs.AI
keywords metricdepthscalingcameraestimationmodelsnoisyanything
verification ladder T0 review T1 audit T2 compute T3 formal T4 reserved
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Scaling has powered recent advances in vision foundation models, yet extending this paradigm to metric depth estimation remains challenging due to heterogeneous sensor noise, camera-dependent biases, and metric ambiguity in noisy cross-source 3D data. We introduce Metric Anything, a simple and scalable pretraining framework that learns metric depth from noisy, diverse 3D sources without manually engineered prompts, camera-specific modeling, or task-specific architectures. Central to our approach is the Sparse Metric Prompt, created by randomly masking depth maps, which serves as a universal interface that decouples spatial reasoning from sensor and camera biases. Using about 20M image-depth pairs spanning reconstructed, captured, and rendered 3D data across 10000 camera models, we demonstrate-for the first time-a clear scaling trend in the metric depth track. The pretrained model excels at prompt-driven tasks such as depth completion, super-resolution and Radar-camera fusion, while its distilled prompt-free student achieves state-of-the-art results on monocular depth estimation, camera intrinsics recovery, single/multi-view metric 3D reconstruction, and VLA planning. We also show that using pretrained ViT of Metric Anything as a visual encoder significantly boosts Multimodal Large Language Model capabilities in spatial intelligence. These results show that metric depth estimation can benefit from the same scaling laws that drive modern foundation models, establishing a new path toward scalable and efficient real-world metric perception. We open-source MetricAnything at http://metric-anything.github.io/metric-anything-io/ to support community research.

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Cited by 1 Pith paper

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  1. DrivingDepth: Sparse-Prompted Pixel-wise Scale Correction for Driving Depth Estimation

    cs.CV 2026-06 unverdicted novelty 7.0

    DrivingDepth achieves SOTA metric depth on nuScenes by residual pixel-wise scale correction on frozen foundation models using sparse LiDAR prompts, preserving geometric consistency.