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 26–50 of 242 papers

Title	Date	Tasks	Status	Hype	Score
Learning Topology from Synthetic Data for Unsupervised Depth Completion	Jun 6, 2021	Depth Completion	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
CFPNet: Improving Lightweight ToF Depth Completion via Cross-zone Feature Propagation	Nov 7, 2024	Depth Completion	CodeCode Available	1	5
Sparsity Agnostic Depth Completion	Dec 1, 2022	Depth Completion	CodeCode Available	1	5
ClearPose: Large-scale Transparent Object Dataset and Benchmark	Mar 8, 2022	BenchmarkingDepth Completion	CodeCode Available	1	5
PacGDC: Label-Efficient Generalizable Depth Completion with Projection Ambiguity and Consistency	Jul 10, 2025	Depth 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
A Surface Geometry Model for LiDAR Depth Completion	Apr 17, 2021	Depth CompletionSelf-Supervised Learning	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
An Adaptive Framework for Learning Unsupervised Depth Completion	Jun 6, 2021	Depth Completion	CodeCode Available	1	5
Non-Local Spatial Propagation Network for Depth Completion	Jul 20, 2020	Depth CompletionDepth Estimation	CodeCode Available	1	5
Adaptive Context-Aware Multi-Modal Network for Depth Completion	Aug 25, 2020	Depth Completion	CodeCode Available	1	5
Depth Completion using Geometry-Aware Embedding	Mar 21, 2022	Depth CompletionDepth Estimation	CodeCode Available	1	5
Advancing Self-supervised Monocular Depth Learning with Sparse LiDAR	Sep 20, 2021	3D Object DetectionDepth Completion	CodeCode Available	1	5
NeuralLabeling: A versatile toolset for labeling vision datasets using Neural Radiance Fields	Sep 21, 2023	Depth CompletionInstance Segmentation	CodeCode Available	1	5
Revisiting Deformable Convolution for Depth Completion	Aug 3, 2023	Depth Completion	CodeCode Available	1	5
Revisiting Depth Completion from a Stereo Matching Perspective for Cross-domain Generalization	Dec 14, 2023	Depth CompletionDomain Generalization	CodeCode Available	1	5
Aerial Single-View Depth Completion with Image-Guided Uncertainty Estimation	Jan 17, 2020	Depth CompletionGPU	CodeCode Available	1	5
FinnWoodlands Dataset	Apr 3, 2023	Autonomous DrivingDepth Completion	CodeCode Available	1	5
GraphCSPN: Geometry-Aware Depth Completion via Dynamic GCNs	Oct 19, 2022	Autonomous DrivingDepth 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
PanDepth: Joint Panoptic Segmentation and Depth Completion	Dec 29, 2022	Autonomous DrivingDepth Completion	CodeCode Available	1	5
Learning an Efficient Multimodal Depth Completion Model	Aug 23, 2022	Depth CompletionDepth Estimation	CodeCode Available	1	5
Monocular Visual-Inertial Depth Estimation	Mar 21, 2023	Depth CompletionDepth Estimation	CodeCode Available	1	5
SemSegDepth: A Combined Model for Semantic Segmentation and Depth Completion	Sep 1, 2022	Depth CompletionScene Understanding	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