Preprint
Aug 2026
OptiGeo: Efficient Monocular Geometry for Embodied Perception in Optically Challenging Scenes
OptiGeo is introduced, a bias-aware training framework that rehabilitates biased real supervision using a clean-geometry teacher and residual-trimmed alignment and outperforms substantially larger 300M-scale monocular models and billion-scale multi-view baselines on transparent-scene benchmarks, while remaining competi...
Mu-Xin Liu, Tian-Bo Liu, Jing Xia et al.
· 1 citation