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

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Showing 226–242 of 242 papers

Title	Date	Tasks	Status
Sparse and noisy LiDAR completion with RGB guidance and uncertainty	Feb 14, 2019	Autonomous VehiclesDepth Completion	CodeCode Available
Sparse and noisy LiDAR completion with RGB guidance anduncertainty	Feb 14, 2019	Autonomous VehiclesDepth Completion	CodeCode Available
DFuseNet: Deep Fusion of RGB and Sparse Depth Information for Image Guided Dense Depth Completion	Feb 2, 2019	Depth CompletionSuper-Resolution	CodeCode Available
Dense Depth Posterior (DDP) from Single Image and Sparse Range	Jan 28, 2019	Depth Completion	—Unverified
DeepLiDAR: Deep Surface Normal Guided Depth Prediction for Outdoor Scene from Sparse LiDAR Data and Single Color Image	Dec 2, 2018	DecoderDepth Completion	CodeCode Available
Confidence Propagation through CNNs for Guided Sparse Depth Regression	Nov 5, 2018	Autonomous DrivingDepth Completion	CodeCode Available
Learning Depth with Convolutional Spatial Propagation Network	Oct 4, 2018	Depth CompletionDepth Estimation	CodeCode Available
HMS-Net: Hierarchical Multi-scale Sparsity-invariant Network for Sparse Depth Completion	Aug 27, 2018	Autonomous DrivingDecoder	—Unverified
Sparse and Dense Data with CNNs: Depth Completion and Semantic Segmentation	Aug 2, 2018	Depth CompletionSemantic Segmentation	—Unverified
Self-supervised Sparse-to-Dense: Self-supervised Depth Completion from LiDAR and Monocular Camera	Jul 1, 2018	Autonomous DrivingDepth Completion	CodeCode Available
Propagating Confidences through CNNs for Sparse Data Regression	May 30, 2018	Autonomous DrivingDepth Completion	CodeCode Available
Deep Depth Completion of a Single RGB-D Image	Mar 25, 2018	Depth CompletionDepth Estimation	CodeCode Available
Deep Convolutional Compressed Sensing for LiDAR Depth Completion	Mar 23, 2018	compressed sensingDepth Completion	—Unverified
In Defense of Classical Image Processing: Fast Depth Completion on the CPU	Jan 31, 2018	CPUDepth Completion	CodeCode Available
Sparsity Invariant CNNs	Aug 22, 2017	Depth CompletionDepth Estimation	CodeCode Available
Parse Geometry from a Line: Monocular Depth Estimation with Partial Laser Observation	Oct 17, 2016	Depth CompletionDepth Estimation	CodeCode Available
Mutual-Structure for Joint Filtering	Dec 1, 2015	Depth CompletionImage Enhancement	—Unverified

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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