Namitha Guruprasad, Abhay Yadav, Cheng Peng, Rama Chellappa, Anand Bhattad · 2026 · arXiv
DOI: 10.48550/arXiv.2610.31645 · open-access PDF
Monocular models recover 3D geometry from a single image in one pass, but most assume a pinhole camera and produce distorted geometry on the wide-angle imagery produced by fisheye and panoramic lenses. Camera-aware models remove this assumption by predicting a per-pixel ray field. However, they represent different camera geometries using a single fixed basis to capture both the overall camera projection and its finer variations. We argue that camera geometry can be viewed as having a hierarchy of complexity for representing rays. We present OmniRay, a feed-forward model whose Ray Module is com
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