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 51–75 of 242 papers

Title	Date	Tasks	Status	Hype
An Adaptive Framework for Learning Unsupervised Depth Completion	Jun 6, 2021	Depth Completion	CodeCode Available	1
A Surface Geometry Model for LiDAR Depth Completion	Apr 17, 2021	Depth CompletionSelf-Supervised Learning	CodeCode Available	1
Depth Completion with Twin Surface Extrapolation at Occlusion Boundaries	Apr 6, 2021	Depth Completion	CodeCode Available	1
RGB-D Local Implicit Function for Depth Completion of Transparent Objects	Apr 1, 2021	Depth CompletionDepth Estimation	CodeCode Available	1
PENet: Towards Precise and Efficient Image Guided Depth Completion	Mar 1, 2021	Depth Completion	CodeCode Available	1
Adaptive Context-Aware Multi-Modal Network for Depth Completion	Aug 25, 2020	Depth Completion	CodeCode Available	1
Non-Local Spatial Propagation Network for Depth Completion	Jul 20, 2020	Depth CompletionDepth Estimation	CodeCode Available	1
Uncertainty-Aware CNNs for Depth Completion: Uncertainty from Beginning to End	Jun 5, 2020	Computational EfficiencyDepth Completion	CodeCode Available	1
Scene Completeness-Aware Lidar Depth Completion for Driving Scenario	Mar 15, 2020	Depth CompletionRGBD Semantic Segmentation	CodeCode Available	1
Aerial Single-View Depth Completion with Image-Guided Uncertainty Estimation	Jan 17, 2020	Depth CompletionGPU	CodeCode Available	1
DidSee: Diffusion-Based Depth Completion for Material-Agnostic Robotic Perception and Manipulation	Jun 26, 2025	Depth CompletionPose Estimation	—Unverified	0
DCIRNet: Depth Completion with Iterative Refinement for Dexterous Grasping of Transparent and Reflective Objects	Jun 11, 2025	Depth CompletionDepth Estimation	—Unverified	0
SR3D: Unleashing Single-view 3D Reconstruction for Transparent and Specular Object Grasping	May 30, 2025	3D Object Reconstruction3D Reconstruction	—Unverified	0
HTMNet: A Hybrid Network with Transformer-Mamba Bottleneck Multimodal Fusion for Transparent and Reflective Objects Depth Completion	May 27, 2025	DecoderDepth Completion	—Unverified	0
BadDepth: Backdoor Attacks Against Monocular Depth Estimation in the Physical World	May 22, 2025	Autonomous DrivingBackdoor Attack	—Unverified	0
Event-Driven Dynamic Scene Depth Completion	May 19, 2025	Depth Completion	—Unverified	0
Depth Anything with Any Prior	May 15, 2025	Depth CompletionDepth Estimation	—Unverified	0
All-day Depth Completion via Thermal-LiDAR Fusion	Apr 3, 2025	AllContrastive Learning	—Unverified	0
WonderTurbo: Generating Interactive 3D World in 0.72 Seconds	Apr 3, 2025	3D GenerationDepth Completion	—Unverified	0
DenseFormer: Learning Dense Depth Map from Sparse Depth and Image via Conditional Diffusion Model	Mar 31, 2025	Autonomous DrivingDenoising	—Unverified	0
Vanishing Depth: A Depth Adapter with Positional Depth Encoding for Generalized Image Encoders	Mar 25, 2025	6D Pose Estimation using RGBDepth Completion	CodeCode Available	0
Pow3R: Empowering Unconstrained 3D Reconstruction with Camera and Scene Priors	Mar 21, 2025	3D ReconstructionDepth Completion	—Unverified	0
GAA-TSO: Geometry-Aware Assisted Depth Completion for Transparent and Specular Objects	Mar 21, 2025	Depth CompletionDepth Estimation	—Unverified	0
ProtoDepth: Unsupervised Continual Depth Completion with Prototypes	Mar 17, 2025	3D ReconstructionContinual Learning	—Unverified	0
Learning Inverse Laplacian Pyramid for Progressive Depth Completion	Feb 11, 2025	Computational EfficiencyDepth Completion	—Unverified	0

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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