TerraHeight-S

TerraHeight-S

TerraHeight-S is a compact remote-sensing height estimation model for predicting dense per-pixel Above Ground Level (AGL) height maps from overhead RGB imagery.

The model was created by fine-tuning the pretrained Depth Anything V2 Small (ViT-S) model exclusively on the GAMUS dataset.

TerraHeight-S contains only 24.79M parameters while achieving performance competitive with substantially larger state-of-the-art height estimation models.

Model Details

Validation Performance

The released checkpoint achieved the following results on the held-out GAMUS validation data.

The overall evaluation covered approximately 900.7 million valid pixels.

Comparison with Depth2Elevation

Depth2Elevation is a published state-of-the-art reference for single-view remote-sensing height estimation on GAMUS.

Using the GAMUS test benchmark, the following results provide a useful comparison:

TerraHeight-S achieves a lower MAE while remaining close in RMSE, despite using approximately 4× fewer parameters.

This represents roughly a 75% reduction in parameter count compared with Depth2Elevation.

Architecture

TerraHeight-S is based on the pretrained Depth Anything V2 Small architecture.

Rather than training a vision transformer from scratch, the pretrained representation learned by Depth Anything V2 is fine-tuned for remote-sensing metric height estimation using GAMUS RGB imagery and corresponding AGL targets.

The released model configuration is:

Encoder:      ViT-S
Features:     64
Out channels: [48, 96, 192, 384]
Parameters:   24.79M