2026
Zero-Shot Metric Depth Estimation Via Monocular Visual-Inertial Rescaling for Autonomous Aerial Navigation
ICRA 2026poster
This paper presents a methodology to predict metric depth from monocular RGB images and an inertial measurement unit (IMU). To enable collision avoidance during autonomous flight, prior works either leverage heavy sensors (e.g., LiDARs or stereo cameras) or data-intensive and domain-specific fine-tu…