Pith Number

pith:T7ZZFOUO

pith:2025:T7ZZFOUO5OYYOO3TTYPI755A6W

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UniDepthV2: Universal Monocular Metric Depth Estimation Made Simpler

Christos Sakaridis, Luc Van Gool, Luigi Piccinelli, Mattia Segu, Siyuan Li, Wim Abbeloos, Yung-Hsu Yang

UniDepthV2 predicts metric 3D points directly from single images across domains without extra inputs or retraining.

arxiv:2502.20110 v2 · 2025-02-27 · cs.CV

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Claims

C1strongest claim

UniDepthV2 is capable of reconstructing metric 3D scenes from solely single images across domains, improves its predecessor via edge-guided loss, simplified design, and uncertainty output, and shows superior zero-shot performance on ten depth datasets.

C2weakest assumption

The self-promptable camera module and geometric invariance loss can reliably disentangle and generalize camera and depth features without domain-specific information or post-hoc adjustments.

C3one line summary

UniDepthV2 predicts metric 3D points directly from single images using a self-promptable camera module, pseudo-spherical representation, and new losses for improved cross-domain generalization.

References

90 extracted · 90 resolved · 4 Pith anchors

[1] Depth-supervised nerf: Fewer views and faster training for free, 2022

[2] Does computer vision matter for action? 2019

[3] Towards real-time monocular depth estimation for robotics: A survey, 2022

[4] Pseudo-lidar from visual depth estimation: Bridging the gap in 3d object detection for autonomous driving, 2019

[5] Is pseudo-lidar needed for monocular 3d object detection? 2021

Formal links

2 machine-checked theorem links

Cited by

17 papers in Pith

ViPE: Video Pose Engine for 3D Geometric Perception

RAD: Retrieval-Augmented Monocular Metric Depth Estimation for Underrepresented Classes

OpenVO: Open-World Visual Odometry with Temporal Dynamics Awareness

Efficient Test-Time Optimization for Depth Completion via Low-Rank Decoder Adaptation

MoGe-2: Accurate Monocular Geometry with Metric Scale and Sharp Details

Receipt and verification

First computed	2026-05-17T23:38:14.500017Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9ff392ba8eebb1873b739e1e8ff7a0f58135acb7684e5745e21045aa8f19539c

Aliases

arxiv: 2502.20110 · arxiv_version: 2502.20110v2 · doi: 10.48550/arxiv.2502.20110

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/T7ZZFOUO5OYYOO3TTYPI755A6W \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 9ff392ba8eebb1873b739e1e8ff7a0f58135acb7684e5745e21045aa8f19539c

Canonical record JSON

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    "primary_cat": "cs.CV",
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