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OptiGeo: Efficient Monocular Geometry for Embodied Perception in Optically Challenging Scenes

arXiv · AI, language, vision and robotics · article · Aug 30, 2026 · UTC

Monocular depth estimation has achieved strong open-domain generalization, yet reliable robotic deployment remains difficult in transparent, reflective, and specular environments, where depth sensors often produce missing or biased depth. Existing methods often handle such optical failures with scene-specific preprocessing, auxiliary modules, or post-hoc fine-tuning. While effective in constrained settings, these designs increase architectural redundancy and can over-specialize general geometry models to narrow optical scenarios. We revisit this problem as a localized failure mode within base-

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