Decide Monocular Dense Depth Algorithm

Description – brief description of the issue to resolve or decision to make

What algorithm should we use for monocular depth estimation?
Exploration work is tracked at ticket  ⁠⁠MoGE investigation⁠   ⁠⁠Mast3r Investigation⁠ 

Options – what alternatives were available/considered?

  • Mast3r  https://arxiv.org/pdf/2412.12392 
  • MoGE  https://arxiv.org/abs/2410.19115 

Resolution – description of the changes or decision made.  If not resolved, put a note like "Pending" here.

Decided to go forward with MoGE with MadPose optimizer to return metric depth.

Justification – supporting information for why this solution or decision was deemed best

 : Currently unable to achieve feature matching and metric depth with Mast3r, not at same level of maturity as MoGE. However, point-based reconstruction is still worth some investigation - consider Mast3r SFM, Mast3r SLAM, Human3D