Depth Completion

The Depth Completion task is a sub-problem of depth estimation. In the sparse-to-dense depth completion problem, one wants to infer the dense depth map of a 3-D scene given an RGB image and its corresponding sparse reconstruction in the form of a sparse depth map obtained either from computational methods such as SfM (Strcuture-from-Motion) or active sensors such as lidar or structured light sensors.

Source: LiStereo: Generate Dense Depth Maps from LIDAR and Stereo Imagery , Unsupervised Depth Completion from Visual Inertial Odometry

Papers

Recently Added Most Hyped Most Active Needs Verification Most Verified

Showing 1–10 of 242 papers

Title	Date	Tasks	Status	Hype
OMNI-DC: Highly Robust Depth Completion with Multiresolution Depth Integration	Nov 28, 2024	Depth Completion	CodeCode Available	2
OGNI-DC: Robust Depth Completion with Optimization-Guided Neural Iterations	Jun 17, 2024	Depth Completion	CodeCode Available	2
Bilateral Propagation Network for Depth Completion	Mar 17, 2024	Depth Completion	CodeCode Available	2
CompletionFormer: Depth Completion with Convolutions and Vision Transformers	Apr 25, 2023	Depth CompletionDepth Estimation	CodeCode Available	2
Virtual Sparse Convolution for Multimodal 3D Object Detection	Mar 4, 2023	3D Multi-Object Tracking3D Object Detection	CodeCode Available	2
Sparse Fuse Dense: Towards High Quality 3D Detection with Depth Completion	Mar 18, 2022	3D Object DetectionData Augmentation	CodeCode Available	2
Dynamic Spatial Propagation Network for Depth Completion	Feb 20, 2022	Depth Completion	CodeCode Available	2
PacGDC: Label-Efficient Generalizable Depth Completion with Projection Ambiguity and Consistency	Jul 10, 2025	Depth Completion	CodeCode Available	1
DEPTHOR: Depth Enhancement from a Practical Light-Weight dToF Sensor and RGB Image	Apr 2, 2025	Depth CompletionDepth Estimation	CodeCode Available	1
SVDC: Consistent Direct Time-of-Flight Video Depth Completion with Frequency Selective Fusion	Mar 3, 2025	Depth Completion	CodeCode Available	1

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All datasets KITTI Depth Completion VOID NYU-Depth V2 Matterport3D KITTI KITTI Depth Completion 500 points KITTI Depth Completion Eigen Split PLAD VOID-150

Benchmark Results

#	Model	Metric	Claimed	Verified	Status
1	SparseConvs	RMSE	1,601	—	Unverified
2	NConv-CNN	RMSE	1,268	—	Unverified
3	VOICED	RMSE	1,169.97	—	Unverified
4	ScaffNet-FusionNet	RMSE	1,121.93	—	Unverified
5	KBNet	RMSE	1,069.47	—	Unverified
6	Spade-sD	RMSE	1,035	—	Unverified
7	HMS-Net	RMSE	937	—	Unverified
8	Spade-RGBsD	RMSE	918	—	Unverified
9	NConv-CNN-L1	RMSE	859	—	Unverified
10	NConv-CNN-L2	RMSE	830	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	SS-S2D	MAE	178.85	—	Unverified
2	DDP	MAE	151.86	—	Unverified
3	VOICED	MAE	85.05	—	Unverified
4	ScaffNet-FusionNet	MAE	59.53	—	Unverified
5	KBNet	MAE	39.8	—	Unverified
6	NLSPN	MAE	26.74	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Struct-MDC	RMSE	0.14	—	Unverified
2	DSN	RMSE	0.1	—	Unverified
3	NLSPN	RMSE	0.09	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	SA+SSIM+BC	RMSE	1.09	—	Unverified
2	DM-LRN-b4	RMSE	1	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	FusionDepth	RMSE	1,193.92	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	CFCNet	RMSE	2.96	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	DSN	REL	0.02	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Struct-MDC	MAE	1,170.3	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Struct-MDC	MAE	111.33	—	Unverified