WildCross: A Cross-Modal Large Scale Benchmark for Place Recognition and Metric Depth Estimation in Natural Environments
Recent years have seen a significant increase in demand for robotic solutions in unstructured natural environments, alongside growing interest in bridging 2D and 3D scene understanding. However, existing robotics datasets are predominantly captured in structured urban environments, making them inadequate for addressing the challenges posed by complex, unstructured natural settings. To address this gap, we propose WildCross, a cross-modal benchmark for place recognition and metric depth estimation in large-scale natural environments. WildCross comprises over 476K sequential RGB frames with semi-dense depth and surface normal annotations, each aligned with accurate 6DoF poses and synchroniz...
| Authors | Joshua Knights, Joseph Reid, Kaushik Roy et al. |
|---|---|
| Primary category | cs.CV |
| Published | 2 March 2026 |
| Last updated at source | 2 March 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.