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 1–25 of 242 papers

Title	Date	Tasks	Status	Hype	Score
Dynamic Spatial Propagation Network for Depth Completion	Feb 20, 2022	Depth Completion	CodeCode Available	2	5
Virtual Sparse Convolution for Multimodal 3D Object Detection	Mar 4, 2023	3D Multi-Object Tracking3D Object Detection	CodeCode Available	2	5
Bilateral Propagation Network for Depth Completion	Mar 17, 2024	Depth Completion	CodeCode Available	2	5
OGNI-DC: Robust Depth Completion with Optimization-Guided Neural Iterations	Jun 17, 2024	Depth Completion	CodeCode Available	2	5
Sparse Fuse Dense: Towards High Quality 3D Detection with Depth Completion	Mar 18, 2022	3D Object DetectionData Augmentation	CodeCode Available	2	5
CompletionFormer: Depth Completion with Convolutions and Vision Transformers	Apr 25, 2023	Depth CompletionDepth Estimation	CodeCode Available	2	5
OMNI-DC: Highly Robust Depth Completion with Multiresolution Depth Integration	Nov 28, 2024	Depth Completion	CodeCode Available	2	5
Depth Completion using Geometry-Aware Embedding	Mar 21, 2022	Depth CompletionDepth Estimation	CodeCode Available	1	5
Learning an Efficient Multimodal Depth Completion Model	Aug 23, 2022	Depth CompletionDepth Estimation	CodeCode Available	1	5
Learning Topology from Synthetic Data for Unsupervised Depth Completion	Jun 6, 2021	Depth Completion	CodeCode Available	1	5
Helvipad: A Real-World Dataset for Omnidirectional Stereo Depth Estimation	Nov 27, 2024	Depth CompletionDepth Estimation	CodeCode Available	1	5
Learnable Differencing Center for Nighttime Depth Perception	Jun 26, 2023	Depth CompletionDepth Estimation	CodeCode Available	1	5
A Concise but High-performing Network for Image Guided Depth Completion in Autonomous Driving	Jan 29, 2024	Autonomous DrivingDepth Completion	CodeCode Available	1	5
Dense Depth Priors for Neural Radiance Fields from Sparse Input Views	Dec 6, 2021	Depth CompletionNeRF	CodeCode Available	1	5
FDCT: Fast Depth Completion for Transparent Objects	Jul 23, 2023	Autonomous DrivingDepth Completion	CodeCode Available	1	5
ClearPose: Large-scale Transparent Object Dataset and Benchmark	Mar 8, 2022	BenchmarkingDepth Completion	CodeCode Available	1	5
FinnWoodlands Dataset	Apr 3, 2023	Autonomous DrivingDepth Completion	CodeCode Available	1	5
A Two-Stage Masked Autoencoder Based Network for Indoor Depth Completion	Jun 14, 2024	3D ReconstructionAutonomous Driving	CodeCode Available	1	5
Advancing Self-supervised Monocular Depth Learning with Sparse LiDAR	Sep 20, 2021	3D Object DetectionDepth Completion	CodeCode Available	1	5
DEPTHOR: Depth Enhancement from a Practical Light-Weight dToF Sensor and RGB Image	Apr 2, 2025	Depth CompletionDepth Estimation	CodeCode Available	1	5
Aerial Single-View Depth Completion with Image-Guided Uncertainty Estimation	Jan 17, 2020	Depth CompletionGPU	CodeCode Available	1	5
CFPNet: Improving Lightweight ToF Depth Completion via Cross-zone Feature Propagation	Nov 7, 2024	Depth Completion	CodeCode Available	1	5
Depth Completion with Twin Surface Extrapolation at Occlusion Boundaries	Apr 6, 2021	Depth Completion	CodeCode Available	1	5
GraphCSPN: Geometry-Aware Depth Completion via Dynamic GCNs	Oct 19, 2022	Autonomous DrivingDepth Completion	CodeCode Available	1	5
A Surface Geometry Model for LiDAR Depth Completion	Apr 17, 2021	Depth CompletionSelf-Supervised Learning	CodeCode Available	1	5

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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