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vision

Official implementation of the paper "A Simple yet Effective Test-Time Adaptation for Zero-Shot Monocular Metric Depth Estimation" accepted to IROS 2025. In this paper, we propose to rescale Depth Anything predictions using 3D points provided by sensors or techniques such as low-resolution LiDAR or structure-from-motion with poses given by an IMU. This approach avoids fine-tuning and preserves the generalizing power of the original depth estimation model while being robust to the noise of the sparse depth, of the camera-LiDAR calibration or of the depth model.