X-Lens: Real-Time Metric Depth Estimation with Heterogeneous Cameras
We present X-lens, a compact feed-forward model for metric depth estimation from a variable number of calibrated fisheye and pinhole views. To support real-time downstream perception, X-lens is built around a geometry-aware heterogeneous camera formulation with two key components. Learnable calibration tokens provide a coarse alignment between fisheye and pinhole projective spaces, while a Jacobian-parameterized distortion bias injected into cross-attention models local projection changes and promotes cross-camera consistency, enabling robust generalization with only 0.04B parameters and up to 41 FPS. The model predicts dense depth together with a global metric scale, avoiding auxiliary r...
| Authors | Heng Zhou, Shuhong Liu, Yonghao He et al. |
|---|---|
| Primary category | cs.CV |
| Published | 14 July 2026 |
| Last updated at source | 15 July 2026 |
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