X-Lens: Real-Time Metric Depth Estimation with Heterogeneous Cameras
We present X-lens, a compact feed-forward model for metric depth estimation from a variable number of calibrated fisheye and pinhole views. To support real-time downstream perception, X-lens is built around a geometry-aware heterogeneous camera formulation with two key components. Learnable calibration tokens provide a coarse alignment between fisheye and pinhole projective spaces, while a Jacobian-parameterized distortion bias injected into cross-attention models local projection changes and promotes cross-camera consistency, enabling robust generalization with only 0.04B parameters and up to
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- LinkedLinked via arxiv author · 85%Zheng Zhou →
“X-Lens: Real-Time Metric Depth Estimation with Heterogeneous Cameras”
- LinkedLinked via arxiv author · 85%Shuhong Liu →
“X-Lens: Real-Time Metric Depth Estimation with Heterogeneous Cameras”
- LinkedLinked via arxiv author · 85%Yonghao He →
“X-Lens: Real-Time Metric Depth Estimation with Heterogeneous Cameras”
- LinkedLinked via arxiv author · 85%Bohao Zhang →
“X-Lens: Real-Time Metric Depth Estimation with Heterogeneous Cameras”
- LinkedLinked via arxiv author · 85%Fa Fu →
“X-Lens: Real-Time Metric Depth Estimation with Heterogeneous Cameras”
- LinkedLinked via arxiv author · 85%Chenhui Hou →
“X-Lens: Real-Time Metric Depth Estimation with Heterogeneous Cameras”
- LinkedLinked via arxiv author · 85%Xianbao Hou →
“X-Lens: Real-Time Metric Depth Estimation with Heterogeneous Cameras”
- LinkedLinked via arxiv author · 85%Lijun Han →
“X-Lens: Real-Time Metric Depth Estimation with Heterogeneous Cameras”