Depth Estimation

Depth Estimation is the task of measuring the distance of each pixel relative to the camera. Depth is extracted from either monocular (single) or stereo (multiple views of a scene) images. Traditional methods use multi-view geometry to find the relationship between the images. Newer methods can directly estimate depth by minimizing the regression loss, or by learning to generate a novel view from a sequence. The most popular benchmarks are KITTI and NYUv2. Models are typically evaluated according to a RMS metric.

Source: DIODE: A Dense Indoor and Outdoor DEpth Dataset

Papers

Recently Added Most Hyped Most Active Needs Verification Most Verified

Showing 326–350 of 2454 papers

Title	Date	Tasks	Status	Hype
CoDEPS: Online Continual Learning for Depth Estimation and Panoptic Segmentation	Mar 17, 2023	Continual LearningDepth Estimation	CodeCode Available	1
4K-HAZE: A Dehazing Benchmark with 4K Resolution Hazy and Haze-Free Images	Mar 28, 2023	4kDepth Estimation	CodeCode Available	1
CT-MVSNet: Efficient Multi-View Stereo with Cross-scale Transformer	Dec 14, 2023	3D ReconstructionDepth Estimation	CodeCode Available	1
3D Visual Illusion Depth Estimation	May 19, 2025	Common Sense ReasoningDepth Estimation	CodeCode Available	1
ENRICH: Multi-purposE dataset for beNchmaRking In Computer vision and pHotogrammetry	Apr 1, 2023	3D Reconstruction3D Scene Reconstruction	CodeCode Available	1
Dusk Till Dawn: Self-supervised Nighttime Stereo Depth Estimation using Visual Foundation Models	May 18, 2024	Depth EstimationStereo Depth Estimation	CodeCode Available	1
Estimating Image Depth in the Comics Domain	Oct 7, 2021	Depth EstimationDepth Prediction	CodeCode Available	1
A Study on the Generality of Neural Network Structures for Monocular Depth Estimation	Jan 9, 2023	Depth EstimationMonocular Depth Estimation	CodeCode Available	1
Event-based Stereo Depth Estimation from Ego-motion using Ray Density Fusion	Oct 17, 2022	Depth EstimationStereo Depth Estimation	CodeCode Available	1
Dual Transfer Learning for Event-based End-task Prediction via Pluggable Event to Image Translation	Sep 4, 2021	DecoderDepth Estimation	CodeCode Available	1
Curvature-guided dynamic scale networks for Multi-view Stereo	Dec 11, 2021	3D ReconstructionDepth Estimation	CodeCode Available	1
A Practical Stereo Depth System for Smart Glasses	Nov 19, 2022	CPUDepth Estimation	CodeCode Available	1
Exploring Sparse Visual Prompt for Domain Adaptive Dense Prediction	Mar 17, 2023	Depth EstimationDomain Adaptation	CodeCode Available	1
Edge-Enabled VIO with Long-Tracked Features for High-Accuracy Low-Altitude IoT Navigation	May 10, 2025	Depth EstimationDepth Prediction	CodeCode Available	1
CL-MVSNet: Unsupervised Multi-View Stereo with Dual-Level Contrastive Learning	Jan 1, 2023	3D geometryContrastive Learning	CodeCode Available	1
DS-Depth: Dynamic and Static Depth Estimation via a Fusion Cost Volume	Aug 14, 2023	Depth EstimationMonocular Depth Estimation	CodeCode Available	1
ConsistNet: Enforcing 3D Consistency for Multi-view Images Diffusion	Oct 16, 2023	Depth EstimationDepth Prediction	CodeCode Available	1
DORT: Modeling Dynamic Objects in Recurrent for Multi-Camera 3D Object Detection and Tracking	Mar 29, 2023	3D Object DetectionDepth Estimation	CodeCode Available	1
Advancing Self-supervised Monocular Depth Learning with Sparse LiDAR	Sep 20, 2021	3D Object DetectionDepth Completion	CodeCode Available	1
Context-Enhanced Stereo Transformer	Oct 21, 2022	Depth EstimationStereo Depth Estimation	CodeCode Available	1
Continual Adaptation for Deep Stereo	Jul 10, 2020	Depth Estimation	CodeCode Available	1
Dual Pixel Exploration: Simultaneous Depth Estimation and Image Restoration	Dec 1, 2020	Depth EstimationImage Restoration	CodeCode Available	1
A2J: Anchor-to-Joint Regression Network for 3D Articulated Pose Estimation from a Single Depth Image	Aug 27, 2019	3D Pose EstimationDecoder	CodeCode Available	1
DiverseDepth: Affine-invariant Depth Prediction Using Diverse Data	Feb 3, 2020	Depth EstimationDepth Prediction	CodeCode Available	1
Does it work outside this benchmark? Introducing the Rigid Depth Constructor tool, depth validation dataset construction in rigid scenes for the masses	Mar 29, 2021	Depth EstimationDepth Prediction	CodeCode Available	1

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All datasets Stanford2D3D Panoramic NYU-Depth V2 DCM eBDtheque ScanNetV2 Cityscapes test DIODE KITTI 2015 Mars DTM Estimation ScanNet 4D Light Field Dataset KITTI Eigen split

Benchmark Results

#	Model	Metric	Claimed	Verified	Status
1	OmniDepth	RMSE	0.62	—	Unverified
2	SphereDepth	RMSE	0.45	—	Unverified
3	Jin et al.	RMSE	0.42	—	Unverified
4	BiFuse with fusion	RMSE	0.41	—	Unverified
5	HoHoNet (ResNet-101)	RMSE	0.38	—	Unverified
6	PanoDepth	RMSE	0.37	—	Unverified
7	BiFuse++	RMSE	0.37	—	Unverified
8	UniFuse with fusion	RMSE	0.37	—	Unverified
9	DisConv	RMSE	0.37	—	Unverified
10	SliceNet	RMSE	0.37	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	A2J	mAP	8.61	—	Unverified
2	PAD-Net	RMS	0.79	—	Unverified
3	MS-CRF	RMS	0.59	—	Unverified
4	DORN	RMS	0.51	—	Unverified
5	Freeform	RMS	0.43	—	Unverified
6	Optimized, freeform	RMS	0.43	—	Unverified
7	VNL	RMS	0.42	—	Unverified
8	BTS	RMS	0.41	—	Unverified
9	TransDepth (AGD+ ViT)	RMS	0.37	—	Unverified
10	AdaBins	RMS	0.36	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	T2Net	Abs Rel	0.35	—	Unverified
2	MIDAS	Abs Rel	0.31	—	Unverified
3	Bhattacharjee et al.	Abs Rel	0.25	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	T2Net	Abs Rel	0.49	—	Unverified
2	MIDAS	Abs Rel	0.42	—	Unverified
3	Bhattacharjee et al.	Abs Rel	0.38	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	LeReS	absolute relative error	0.1	—	Unverified
2	DELTAS	absolute relative error	0.09	—	Unverified
3	Distill Any Depth	absolute relative error	0.04	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	SDC-Depth	RMSE	6.92	—	Unverified
2	SwinMTL	RMSE	6.35	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	AIP-Brown	Delta < 1.25	0.36	—	Unverified
2	LeRes	Delta < 1.25	0.23	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	H-Net (Ours)	Absolute relative error (AbsRel)	0.09	—	Unverified
2	H-Net (Ours) Full Eigen	Absolute relative error (AbsRel)	0.08	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GLPDepth	Delta < 1.25	0.43	—	Unverified
2	SRDINET (Model A)	Delta < 1.25	0.4	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Atlas (finetuned)	RMSE	0.17	—	Unverified
2	Atlas (plain)	RMSE	0.17	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	LFattNet	BadPix(0.01)	17.23	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	LightDepth	Number of parameters (M)	42.6	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	UniFuse	Abs Rel	0.11	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	X-TC (Cross-Task Consistency)	L1 error	1.63	—	Unverified