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 171–180 of 242 papers

Title	Date	Tasks	Status
Deep Cost Ray Fusion for Sparse Depth Video Completion	Sep 23, 2024	Depth Completion	—Unverified
Deep Depth Completion from Extremely Sparse Data: A Survey	May 11, 2022	3D ReconstructionAutonomous Driving	—Unverified
Depth Completion Using a View-constrained Deep Prior	Jan 21, 2020	DenoisingDepth Completion	—Unverified
Deep Learning for Image and Point Cloud Fusion in Autonomous Driving: A Review	Apr 10, 2020	Autonomous DrivingAutonomous Vehicles	—Unverified
Deformable spatial propagation network for depth completion	Jul 8, 2020	Autonomous DrivingDepth Completion	—Unverified
DELTAR: Depth Estimation from a Light-weight ToF Sensor and RGB Image	Sep 27, 2022	3D ReconstructionDepth Completion	—Unverified
Dense Depth Posterior (DDP) from Single Image and Sparse Range	Jan 28, 2019	Depth Completion	—Unverified
DenseFormer: Learning Dense Depth Map from Sparse Depth and Image via Conditional Diffusion Model	Mar 31, 2025	Autonomous DrivingDenoising	—Unverified
DenseLiDAR: A Real-Time Pseudo Dense Depth Guided Depth Completion Network	Aug 28, 2021	3D Object DetectionDepth Completion	—Unverified
Depth Anything with Any Prior	May 15, 2025	Depth CompletionDepth Estimation	—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