| { |
| "schema_version": 2, |
| "status": "COMPLETE", |
| "scope": "Only frozen models under astra_blender/models/M1..M4", |
| "reference": "https://wentingw.github.io/astra-world-model-blog/#_5", |
| "m1_notice": "M1 model-space metrics use one frozen GT-assisted Sim(3) from five manual camera associations. They are diagnostic and do not represent native metric recovery.", |
| "protocols": { |
| "table2": "180 fixed views × 19,200 pixels; optical-Z; GT-valid domain; no per-view fitting", |
| "table3": { |
| "model_surface_samples": 100000, |
| "model_surface_seed": 20260923, |
| "observed_gt_samples": 100000, |
| "observed_gt_seed": 20260925, |
| "distance": "exact nearest triangle", |
| "bidirectional_mean": "arithmetic mean of model→GT and observed GT→model mean distances" |
| }, |
| "table4": { |
| "views": [ |
| 0, |
| 36, |
| 72, |
| 108, |
| 144 |
| ], |
| "resolution": [ |
| 640, |
| 480 |
| ], |
| "gt_resize": "Lanczos 1280x960 to 640x480", |
| "metrics": "full-image PSNR, SSIM, LPIPS AlexNet v0.1; no crop/mask/fitting" |
| }, |
| "table5": { |
| "scope": "100 seeded views drawn without replacement from the 175 modeling frames remaining after excluding fixed views; these are not unseen modeling inputs", |
| "seed": 20260930, |
| "excluded_fixed_views": [ |
| 0, |
| 36, |
| 72, |
| 108, |
| 144 |
| ], |
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| "resolution": [ |
| 640, |
| 480 |
| ], |
| "preprocessing": "GT RGB Lanczos 1280x960 to 640x480; RGB float32 [0,1]; no crop, mask, or color/exposure fitting", |
| "metrics": "full-image PSNR, SSIM, LPIPS AlexNet v0.1", |
| "aggregation": "arithmetic mean over the same frozen 100 views" |
| }, |
| "table6": { |
| "views": [ |
| 0, |
| 36, |
| 72, |
| 108, |
| 144 |
| ], |
| "depth": { |
| "depth": "optical Z in metres", |
| "domain": "GT valid_domain and finite GT in [0.1, 30] m", |
| "prediction_valid": "finite prediction in [0.1, 30] m", |
| "aggregation": "pixel-weighted over all selected frames", |
| "missing_penalty": "30 m absolute error for each missing prediction" |
| } |
| }, |
| "table7": { |
| "scope": "the exact same 100 modeling-frame indices as Table 5; held out only from the fixed-five check", |
| "seed": 20260930, |
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| "depth": { |
| "depth": "optical Z in metres", |
| "domain": "GT valid_domain and finite GT in [0.1, 30] m", |
| "prediction_valid": "finite prediction in [0.1, 30] m", |
| "aggregation": "pixel-weighted over all selected frames", |
| "missing_penalty": "30 m absolute error for each missing prediction" |
| } |
| } |
| }, |
| "tables": { |
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| { |
| "method": "M1", |
| "allowed_inputs": "180 张采样 RGB", |
| "geometry_source": "视觉推断，无测量尺度", |
| "modeling_role": "推断布局，编写对象与材质" |
| }, |
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| "method": "M2", |
| "allowed_inputs": "完整 RGB 视频；选取 180 帧建模", |
| "geometry_source": "ViPE RGB-only 位姿 → pose-conditioned DA3 深度", |
| "modeling_role": "将位姿与深度测量组织为对象化场景" |
| }, |
| { |
| "method": "M3", |
| "allowed_inputs": "视频、IMU、相机–IMU 标定", |
| "geometry_source": "ORB-SLAM3 单目惯性位姿 → pose-conditioned DA3 深度", |
| "modeling_role": "结合图像、位姿、深度建模" |
| }, |
| { |
| "method": "M4", |
| "allowed_inputs": "视频及 GT camera pose", |
| "geometry_source": "GT 位姿 → pose-conditioned DA3 深度", |
| "modeling_role": "与 M3 相同类型的建模流程" |
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