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simmediummobile-manipulationmetric · varies
Calib3R: A 3D Foundation Model for Multi-Camera to Robot Calibration and 3D Metric-Scaled Scene Reconstruction
Description
Robots often rely on RGB images for tasks like manipulation and navigation. However, reliable interaction typically requires a 3D scene representation that is metric-scaled and aligned with the robot reference frame. This depends on accurate camera-to-robot calibration and dense 3D reconstruction, tasks usually treated separately, despite both relying on geometric correspondences from RGB data. Traditional calibration needs patterns, while RGB-based reconstruction yields geometry with an unknown