SurGe: Improved Surface Geometry in Point Maps

SurGe improves feedforward monocular 3D point maps with a Neighborhood Attention Decoder and a point-map version of scale-invariant gradient matching.

The method reduces artifacts on thin structures and discontinuities, where standard point-map losses often miss visible surface errors.

It also adds point-map normal mean angular error as a complementary metric to better evaluate local surface geometry.

On zero-shot monocular geometry benchmarks, SurGe shows stronger local geometry and competitive or best global AbsRel performance.