LaRI: Layered Ray Intersections for Single-view
3D Geometric Reasoning

Rui Li¹ Biao Zhang¹ Zhenyu Li¹ Federico Tombari^2,3 Peter Wonka¹

arXiv 2025

¹KAUST ²Google ³Technical University of Munich

Paper Code

Demo

TL;DR: A single-feed-forward method that models unseen 3D geometry using layered point maps.

Summary

We model scene geometry using layered point maps, where each layer represents the intersection points through which rays pass on a surface.
We unify object- and scene-level geometric reasoning into a standard 2D regression task, achieving competitive or improved performance in a single feed-forward pass.
We provide a dataset construction, cleaning, and evaluation benchmark for this task.

Overview

Left: multiple ray-surface intersections + point maps ⇒ Unseen geometry representation.
Right: LaRI map \(\mathbf{V} \in \mathbb{R}^{H\times W \times L \times 3}\) + valid ray intersection mask \(\mathbf{M} \in \{0,1\}^{H\times W \times L}\) ⇒ Final 3D point cloud.

Layered Depth Visualization

Layered Depth: 1

Object-level 3D Interactive Results

All models are subsampled to 20K points. Unseen geometry is higlighted with random color.

Scene-level 3D Interactive Results

All models are subsampled to 20K points. Unseen geometry is higlighted with random color.

3D Reconstruction & Reasoning Evaluation

In object-level comparison, LaRI yields comparable or better performances than existing large generative models. In scene-level comparison, LaRI achieves the best performance in unseen geometry estimation.

Computaion Efficiency

LaRI adopts a relaively lightweight solution with faster speed.

BibTeX

@inproceedings{li2025lari,
      title={LaRI: Layered Ray Intersections for Single-view 3D Geometric Reasoning}, 
      author={Li, Rui and Zhang, Biao and Li, Zhenyu and Tombari, Federico and Wonka, Peter},
      booktitle={arXiv preprint arXiv:2504.18424},
      year={2025}
}

awesome webpage template

LaRI: Layered Ray Intersections for Single-view 3D Geometric Reasoning