M2H-MX: Multi-Task Semantic and Geometric Perception for Real-Time Monocular 3D Scene Graph Construction
Monocular cameras are attractive for robotic perception due to their low cost and ease of deployment, yet achieving reliable real-time spatial understanding from a single image stream remains challenging. While recent multi-task dense prediction models have improved per-pixel depth and semantic estimation, translating these advances into stable monocular mapping systems is still non-trivial. This paper presents M2H-MX, a real-time multi-task perception model for monocular spatial understanding. The model preserves multi-scale feature representations while introducing register-gated global context and controlled cross-task interaction in a lightweight decoder, enabling depth and semantic p...
| Authors | U. V. B. L. Udugama, George Vosselman, Francesco Nex |
|---|---|
| Primary category | cs.CV |
| Published | 31 March 2026 |
| Last updated at source | 23 May 2026 |
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