Geometry Beats Estimated Depth: RGB-Only Multi-Camera 3D Tracking under Sim2Real
The AI City Challenge 2026 Track 1 evaluates multi-camera 3D perception in large indoor warehouses under a synthetic-to-real (Sim2Real) setting; depth is available only for training and validation, so inference is RGB-only. We use two RGB-only routes as a controlled test of one hypothesis: that cross-view geometric consistency, not monocular depth accuracy, governs performance under Sim2Real. The first is a geometry-first pipeline: YOLO11x detection, homography lifting to the world frame, class-level 3D size priors, multi-camera fusion, world-coordinate tracking, and offline tracklet stitching. The second is estimated-depth pseudo-LiDAR: monocular depth (D4RT, Metric3D~v2) back-projected ...
| Authors | Abdullah Naeem, Anav Katwal, Ayon Dey et al. |
|---|---|
| Primary category | cs.CV |
| Published | 4 August 2026 |
| Last updated at source | 4 August 2026 |
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