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arXiv · 2601.20303

Physically Guided Visual Mass Estimation from a Single RGB Image

Sungjae Lee·Junhan Jeong·Yeonjoo Hong·Kwang In Kim
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Abstract

Estimating object mass from visual input is challenging because mass depends jointly on geometric volume and material-dependent density, neither of which is directly observable from RGB appearance. Consequently, mass prediction from pixels is ill-posed and therefore benefits from physically meaningful representations to constrain the space of plausible solutions. We propose a physically structured framework for single-image mass estimation that addresses this ambiguity by aligning visual cues with the physical factors governing mass. From a single RGB image, we recover object-centric three-dimensional geometry via monocular depth estimation to inform volume and extract coarse material semantics using a vision-language model to guide density-related reasoning. These geometry, semantic, and appearance representations are fused through an instance-adaptive gating mechanism, and two physically guided latent factors (volume- and density-related) are predicted through separate regression heads under mass-only supervision. Experiments on image2mass and ABO-500 show that the proposed method consistently outperforms state-of-the-art methods.

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Sungjae Lee, Junhan Jeong, Yeonjoo Hong, Kwang In Kim. 2026-05-05. Physically Guided Visual Mass Estimation from a Single RGB Image. https://arxiv.org/abs/2601.20303

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