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Equirectangular Source Image

1) Equirectangular Image: Acquired from OpenStreetMap Panoramax API, 360° view.

2) Projection: Image projection in a given direction. 90° horizontal angle straightens lines to aid object detection.

Cropped Object

3) Object Detection: Open vocabulary object detection using a state-of-the-art, CLIP-based large vision model to detect novel objects in complex contexts.

Object Depth

4) Depth Estimation: Depth estimated at N/A meters – metric depth estimation using Meta Segment Anything with a depth head.