OmniRay: Camera-Agnostic Monocular 3D Reconstruction with Composite Ray Fields

Namitha Guruprasad; Abhay Yadav; Cheng Peng; Rama Chellappa; Anand Bhattad

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arXiv · 2610.31645

OmniRay: Camera-Agnostic Monocular 3D Reconstruction with Composite Ray Fields

Namitha Guruprasad·Abhay Yadav·Cheng Peng·Rama Chellappa·Anand Bhattad

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Abstract

Monocular models recover 3D geometry from a single image in one pass, but most assume a pinhole camera and produce distorted geometry on the wide-angle imagery produced by fisheye and panoramic lenses. Camera-aware models remove this assumption by predicting a per-pixel ray field. However, they represent different camera geometries using a single fixed basis to capture both the overall camera projection and its finer variations. We argue that camera geometry can be viewed as having a hierarchy of complexity for representing rays. We present OmniRay, a feed-forward model whose Ray Module is composed of three components: a monotone radial base that captures radially symmetric structure, a spherical-harmonic residual for smooth deviations from it, and a free-form residual for remaining local variation. These components are composed as successive rotations on the sphere, allowing the representation to accommodate diverse camera geometries. Given a single image, OmniRay predicts a ray direction and an up-to-scale radial distance for every pixel, from which a 3D point cloud is recovered without needing camera information at inference time. Extensive experiments across different camera configurations demonstrate that OmniRay establishes a new state-of-the-art in camera-agnostic monocular 3D reconstruction.

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BibTeX RIS

Namitha Guruprasad, Abhay Yadav, Cheng Peng, Rama Chellappa, Anand Bhattad. 2026-10-22. OmniRay: Camera-Agnostic Monocular 3D Reconstruction with Composite Ray Fields. https://arxiv.org/abs/2610.31645

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