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.

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…