标题： E3D-Bench：端到端3D几何基础模型的基准测试 显示英文标题

标题： E3D-Bench: A Benchmark for End-to-End 3D Geometric Foundation Models

摘要： 空间智能，包括三维重建、感知和推理，是机器人、航空成像和扩展现实等应用的基础。一个关键的推动因素是从非结构化或流式图像中实时、准确地估计核心三维属性（相机参数、点云、深度图和三维点轨迹）。 受到大型基础模型在语言和二维视觉领域成功的影响，一种新的端到端三维几何基础模型（GFMs）类涌现出来，可以直接预测密集的三维表示，在单一前馈过程中完成，消除了对缓慢或不可用的预计算相机参数的需求。 自2023年末以来，该领域涌现出各种变体，但缺乏系统评估。 在这项工作中，我们提出了第一个针对三维GFMs的全面基准测试，涵盖了五个核心任务：稀疏视图深度估计、视频深度估计、三维重建、多视图姿态估计、新视图合成，并涵盖了标准和具有挑战性的分布外数据集。 我们的标准化工具包实现了数据集处理、评估协议和指标计算的自动化，以确保公平、可重复的比较。 我们评估了16种最先进的GFMs，在任务和领域上揭示了它们的优势和局限性，并得出了指导未来模型扩展和优化的关键见解。 所有代码、评估脚本和处理后的数据都将公开发布，以加速三维空间智能领域的研究。 显示英文摘要

摘要： Spatial intelligence, encompassing 3D reconstruction, perception, and reasoning, is fundamental to applications such as robotics, aerial imaging, and extended reality. A key enabler is the real-time, accurate estimation of core 3D attributes (camera parameters, point clouds, depth maps, and 3D point tracks) from unstructured or streaming imagery. Inspired by the success of large foundation models in language and 2D vision, a new class of end-to-end 3D geometric foundation models (GFMs) has emerged, directly predicting dense 3D representations in a single feed-forward pass, eliminating the need for slow or unavailable precomputed camera parameters. Since late 2023, the field has exploded with diverse variants, but systematic evaluation is lacking. In this work, we present the first comprehensive benchmark for 3D GFMs, covering five core tasks: sparse-view depth estimation, video depth estimation, 3D reconstruction, multi-view pose estimation, novel view synthesis, and spanning both standard and challenging out-of-distribution datasets. Our standardized toolkit automates dataset handling, evaluation protocols, and metric computation to ensure fair, reproducible comparisons. We evaluate 16 state-of-the-art GFMs, revealing their strengths and limitations across tasks and domains, and derive key insights to guide future model scaling and optimization. All code, evaluation scripts, and processed data will be publicly released to accelerate research in 3D spatial intelligence.