MetricAnything: Scaling Metric Depth Pretraining with Noisy Heterogeneous Sources

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.

Fast, faithful and photorealistic diffusion-based image super-resolution with enhanced Flow Map models

Diffusion-based image super-resolution (SR) has recently attracted significant attention by leveraging the expressive power of large pre-trained text-to-image diffusion models (DMs). A central practical challenge is resolving the trade-off between reconstruction faithfulness and photorealism. To address inference efficiency, many recent works have explored knowledge distillation strategies specifically tailored to SR, enabling one-step diffusion-based approaches. However, these teacher-student formulations are inherently constrained by information compression, which can degrade perceptual cues such as lifelike textures and depth of field, even with high overall perceptual quality. In parallel, self-distillation DMs, known as Flow Map models, have emerged as a promising alternative for image generation tasks, enabling fast inference while preserving the expressivity and training stability of standard DMs. Building on these developments, we propose FlowMapSR, a novel diffusion-based framework for image super-resolution explicitly designed for efficient inference. Beyond adapting Flow Map models to SR, we introduce two complementary enhancements: (i) positive-negative prompting guidance, based on a generalization of classifier free-guidance paradigm to Flow Map models, and (ii) adversarial fine-tuning using Low-Rank Adaptation (LoRA). Among the considered Flow Map formulations (Eulerian, Lagrangian, and Shortcut), we find that the Shortcut variant consistently achieves the best performance when combined with these enhancements. Extensive experiments show that FlowMapSR achieves a better balance between reconstruction faithfulness and photorealism than recent state-of-the-art methods for both x4 and x8 upscaling, while maintaining competitive inference time. Notably, a single model is used for both upscaling factors, without any scale-specific conditioning or degradation-guided mechanisms.

Guided Depth Map Super-Resolution via Multi-Scale Fusion U-shaped Mamba Network

Depth map super-resolution technology aims to improve the spatial resolution of low-resolution depth maps and effectively restore high-frequency detail information. Traditional convolutional neural network has limitations in dealing with long-range dependencies and are unable to fully model the global contextual information in depth maps. Although transformer can model global dependencies, its computational complexity and memory consumption are quadratic, which significantly limits its ability to process high-resolution depth maps. In this paper, we propose a multi-scale fusion U-shaped Mamba (MSF-UM) model, a novel guided depth map super-resolution framework. The core innovation of this model is to integrate Mamba's efficient state-space modeling capabilities into a multi-scale U-shaped fusion structure guided by a color image. The structure combining the residual dense channel attention block and the Mamba state space module is designed, which combines the local feature extraction capability of the convolutional layer with the modeling advantage of the state space model for long-distance dependencies. At the same time, the model adopts a multi-scale cross-modal fusion strategy to make full use of the high-frequency texture information from the color image to guide the super-resolution process of the depth map. Compared with existing mainstream methods, the proposed MSF-UM significantly reduces the number of model parameters while achieving better reconstruction accuracy. Extensive experiments on multiple publicly available datasets validate the effectiveness of the model, especially showing excellent generalization ability in the task of large-scale depth map super-resolution.

SuperGS: Consistent and Detailed 3D Super-Resolution Scene Reconstruction via Gaussian Splatting

Recently, 3D Gaussian Splatting (3DGS) has excelled in novel view synthesis (NVS) with its real-time rendering capabilities and superior quality. However, it encounters challenges for high-resolution novel view synthesis (HRNVS) due to the coarse nature of primitives derived from low-resolution input views. To address this issue, we propose SuperGS, an expansion of Scaffold-GS designed with a two-stage coarse-to-fine training framework. In the low-resolution stage, we introduce a latent feature field to represent the low-resolution scene, which serves as both the initialization and foundational information for super-resolution optimization. In the high-resolution stage, we propose a multi-view consistent densification strategy that backprojects high-resolution depth maps based on error maps and employs a multi-view voting mechanism, mitigating ambiguities caused by multi-view inconsistencies in the pseudo labels provided by 2D prior models while avoiding Gaussian redundancy. Furthermore, we model uncertainty through variational feature learning and use it to guide further scene representation refinement and adjust the supervisory effect of pseudo-labels, ensuring consistent and detailed scene reconstruction. Extensive experiments demonstrate that SuperGS outperforms state-of-the-art HRNVS methods on both forward-facing and 360-degree datasets.

Efficient Star Distillation Attention Network for Lightweight Image Super-Resolution

In recent years, the performance of lightweight Single-Image Super-Resolution (SISR) has been improved significantly with the application of Convolutional Neural Networks (CNNs) and Large Kernel Attention (LKA). However, existing information distillation modules for lightweight SISR struggle to map inputs into High-Dimensional Non-Linear (HDNL) feature spaces, limiting their representation learning. And their LKA modules possess restricted ability to capture the multi-shape multi-scale information for long-range dependencies while encountering a quadratic increase in the computational burden with increasing convolutional kernel size of its depth-wise convolutional layer. To address these issues, we firstly propose a Star Distillation Module (SDM) to enhance the discriminative representation learning via information distillation in the HDNL feature spaces. Besides, we present a Multi-shape Multi-scale Large Kernel Attention (MM-LKA) module to learn representative long-range dependencies while incurring low computational and memory footprints, leading to improving the performance of CNN-based self-attention significantly. Integrating SDM and MM-LKA, we develop a Residual Star Distillation Attention Module (RSDAM) and take it as the building block of the proposed efficient Star Distillation Attention Network (SDAN) which possesses high reconstruction efficiency to recover a higher-quality image from the corresponding low-resolution (LR) counterpart. When compared with other lightweight state-of-the-art SISR methods, extensive experiments show that our SDAN with low model complexity yields superior performance quantitatively and visually.

DEPTHOR: Depth Enhancement from a Practical Light-Weight dToF Sensor and RGB Image

Depth enhancement, which uses RGB images as guidance to convert raw signals from dToF into high-precision, dense depth maps, is a critical task in computer vision. Although existing super-resolution-based methods show promising results on public datasets, they often rely on idealized assumptions like accurate region correspondences and reliable dToF inputs, overlooking calibration errors that cause misalignment and anomaly signals inherent to dToF imaging, limiting real-world applicability. To address these challenges, we propose a novel completion-based method, named DEPTHOR, featuring advances in both the training strategy and model architecture. First, we propose a method to simulate real-world dToF data from the accurate ground truth in synthetic datasets to enable noise-robust training. Second, we design a novel network that incorporates monocular depth estimation (MDE), leveraging global depth relationships and contextual information to improve prediction in challenging regions. On the ZJU-L5 dataset, our training strategy significantly enhances depth completion models, achieving results comparable to depth super-resolution methods, while our model achieves state-of-the-art results, improving Rel and RMSE by 27% and 18%, respectively. On a more challenging set of dToF samples we collected, our method outperforms SOTA methods on preliminary stereo-based GT, improving Rel and RMSE by 23% and 22%, respectively. Our Code is available at https://github.com/ShadowBbBb/Depthor

Depth Anything with Any Prior

This work presents Prior Depth Anything, a framework that combines incomplete but precise metric information in depth measurement with relative but complete geometric structures in depth prediction, generating accurate, dense, and detailed metric depth maps for any scene. To this end, we design a coarse-to-fine pipeline to progressively integrate the two complementary depth sources. First, we introduce pixel-level metric alignment and distance-aware weighting to pre-fill diverse metric priors by explicitly using depth prediction. It effectively narrows the domain gap between prior patterns, enhancing generalization across varying scenarios. Second, we develop a conditioned monocular depth estimation (MDE) model to refine the inherent noise of depth priors. By conditioning on the normalized pre-filled prior and prediction, the model further implicitly merges the two complementary depth sources. Our model showcases impressive zero-shot generalization across depth completion, super-resolution, and inpainting over 7 real-world datasets, matching or even surpassing previous task-specific methods. More importantly, it performs well on challenging, unseen mixed priors and enables test-time improvements by switching prediction models, providing a flexible accuracy-efficiency trade-off while evolving with advancements in MDE models.

GSR4B: Biomass Map Super-Resolution with Sentinel-1/2 Guidance

Accurate Above-Ground Biomass (AGB) mapping at both large scale and high spatio-temporal resolution is essential for applications ranging from climate modeling to biodiversity assessment, and sustainable supply chain monitoring. At present, fine-grained AGB mapping relies on costly airborne laser scanning acquisition campaigns usually limited to regional scales. Initiatives such as the ESA CCI map attempt to generate global biomass products from diverse spaceborne sensors but at a coarser resolution. To enable global, high-resolution (HR) mapping, several works propose to regress AGB from HR satellite observations such as ESA Sentinel-1/2 images. We propose a novel way to address HR AGB estimation, by leveraging both HR satellite observations and existing low-resolution (LR) biomass products. We cast this problem as Guided Super-Resolution (GSR), aiming at upsampling LR biomass maps (sources) from $100$ to $10$ m resolution, using auxiliary HR co-registered satellite images (guides). We compare super-resolving AGB maps with and without guidance, against direct regression from satellite images, on the public BioMassters dataset. We observe that Multi-Scale Guidance (MSG) outperforms direct regression both for regression ($-780$ t/ha RMSE) and perception ($+2.0$ dB PSNR) metrics, and better captures high-biomass values, without significant computational overhead. Interestingly, unlike the RGB+Depth setting they were originally designed for, our best-performing AGB GSR approaches are those that most preserve the guide image texture. Our results make a strong case for adopting the GSR framework for accurate HR biomass mapping at scale. Our code and model weights are made publicly available (https://github.com/kaankaramanofficial/GSR4B).

SuperNeRF-GAN: A Universal 3D-Consistent Super-Resolution Framework for Efficient and Enhanced 3D-Aware Image Synthesis

Neural volume rendering techniques, such as NeRF, have revolutionized 3D-aware image synthesis by enabling the generation of images of a single scene or object from various camera poses. However, the high computational cost of NeRF presents challenges for synthesizing high-resolution (HR) images. Most existing methods address this issue by leveraging 2D super-resolution, which compromise 3D-consistency. Other methods propose radiance manifolds or two-stage generation to achieve 3D-consistent HR synthesis, yet they are limited to specific synthesis tasks, reducing their universality. To tackle these challenges, we propose SuperNeRF-GAN, a universal framework for 3D-consistent super-resolution. A key highlight of SuperNeRF-GAN is its seamless integration with NeRF-based 3D-aware image synthesis methods and it can simultaneously enhance the resolution of generated images while preserving 3D-consistency and reducing computational cost. Specifically, given a pre-trained generator capable of producing a NeRF representation such as tri-plane, we first perform volume rendering to obtain a low-resolution image with corresponding depth and normal map. Then, we employ a NeRF Super-Resolution module which learns a network to obtain a high-resolution NeRF. Next, we propose a novel Depth-Guided Rendering process which contains three simple yet effective steps, including the construction of a boundary-correct multi-depth map through depth aggregation, a normal-guided depth super-resolution and a depth-guided NeRF rendering. Experimental results demonstrate the superior efficiency, 3D-consistency, and quality of our approach. Additionally, ablation studies confirm the effectiveness of our proposed components.

IGAF: Incremental Guided Attention Fusion for Depth Super-Resolution

Accurate depth estimation is crucial for many fields, including robotics, navigation, and medical imaging. However, conventional depth sensors often produce low-resolution (LR) depth maps, making detailed scene perception challenging. To address this, enhancing LR depth maps to high-resolution (HR) ones has become essential, guided by HR-structured inputs like RGB or grayscale images. We propose a novel sensor fusion methodology for guided depth super-resolution (GDSR), a technique that combines LR depth maps with HR images to estimate detailed HR depth maps. Our key contribution is the Incremental guided attention fusion (IGAF) module, which effectively learns to fuse features from RGB images and LR depth maps, producing accurate HR depth maps. Using IGAF, we build a robust super-resolution model and evaluate it on multiple benchmark datasets. Our model achieves state-of-the-art results compared to all baseline models on the NYU v2 dataset for $\times 4$, $\times 8$, and $\times 16$ upsampling. It also outperforms all baselines in a zero-shot setting on the Middlebury, Lu, and RGB-D-D datasets. Code, environments, and models are available on GitHub.