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 111–120 of 242 papers

Title	Date	Tasks	Status
LEAD: LiDAR Extender for Autonomous Driving	Feb 16, 2021	Autonomous DrivingDepth Completion	—Unverified
DenseFormer: Learning Dense Depth Map from Sparse Depth and Image via Conditional Diffusion Model	Mar 31, 2025	Autonomous DrivingDenoising	—Unverified
Invisible Stitch: Generating Smooth 3D Scenes with Depth Inpainting	Apr 30, 2024	BenchmarkingDepth Completion	—Unverified
InFusion: Inpainting 3D Gaussians via Learning Depth Completion from Diffusion Prior	Apr 17, 2024	Depth CompletionNovel View Synthesis	—Unverified
Boosting Monocular Depth Estimation with Lightweight 3D Point Fusion	Dec 18, 2020	Depth CompletionDepth Estimation	—Unverified
Learning Joint 2D-3D Representations for Depth Completion	Dec 22, 2020	Depth Completion	—Unverified
Learning Pixel-wise Continuous Depth Representation via Clustering for Depth Completion	Feb 21, 2024	ClusteringDepth Completion	—Unverified
Learning Robust Image-Based Rendering on Sparse Scene Geometry via Depth Completion	Jan 1, 2022	Depth Completion	—Unverified
Dense Depth Posterior (DDP) from Single Image and Sparse Range	Jan 28, 2019	Depth Completion	—Unverified
Improving Depth Completion via Depth Feature Upsampling	Jan 1, 2024	DecoderDepth Completion	—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