IntriAdapt: Generalizable Intrinsic-Guided Test-Time Adaptation for Metric Geometry Estimation

Abstract

Recovering metric 3D geometry from images is fundamentally ill-posed due to perspective projection ambiguity. Current geometry models incorporate supplied or predicted intrinsics during inference, but do not use them to supervise model adaptation. To refine these predictions, test-time adaptation (TTA) typically relies on external depth measurements. In this paper, we instead use camera intrinsics as an output-side geometric verifier. Comparing the point cloud's viewing rays with those defined by the known intrinsics yields a direct measure of geometric inconsistency. We propose \textit{IntriAdapt}, a TTA framework that minimizes this closed-form geometric residual. By optimizing a lightweight LoRA adapter on a frozen geometry foundation model, our method aligns the prediction with the specific camera model without depth sensors or external priors. We further extend this approach to video sequences, demonstrating that adapting a short sequence generalizes to other sequences captured by the same camera. The adapted model processes held-out images in a feed-forward pass, without repeating optimization for each frame. Experiments on ten single-image and seven sequence benchmarks across multiple base models show that \textit{IntriAdapt} consistently outperforms both unadapted and oracle-intrinsics baselines in metric accuracy and relative geometry.