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Boxer: Robust Lifting of Open-World 2D Bounding Boxes to 3D
Daniel DeTone, Tianwei Shen, Fan Zhang, Lingni Ma, Julian Straub, Richard Newcombe, Jakob Engel
Arxiv 04/2026 project page code model
BoxerNet lifts 2D bounding box proposals to 3D given gravity and optional sparse or dense depth, and Boxer fuses them across views into globally consistent, de-duplicated 3D boxes in metric world space. Building on off-the-shelf 2D detectors, it localizes open-world objects in 3D.