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 526–550 of 2454 papers

Title	Date	Tasks	Status	Hype
FDCT: Fast Depth Completion for Transparent Objects	Jul 23, 2023	Autonomous DrivingDepth Completion	CodeCode Available	1
Feature-metric Loss for Self-supervised Learning of Depth and Egomotion	Jul 21, 2020	Depth EstimationMonocular Depth Estimation	CodeCode Available	1
RePoseD: Efficient Relative Pose Estimation With Known Depth Information	Jan 13, 2025	Camera Pose EstimationDepth Estimation	CodeCode Available	1
FLSea: Underwater Visual-Inertial and Stereo-Vision Forward-Looking Datasets	Feb 24, 2023	3D ReconstructionDepth Estimation	CodeCode Available	1
GAM-Depth: Self-Supervised Indoor Depth Estimation Leveraging a Gradient-Aware Mask and Semantic Constraints	Feb 22, 2024	Depth EstimationImage Reconstruction	CodeCode Available	1
Excavating the Potential Capacity of Self-Supervised Monocular Depth Estimation	Sep 26, 2021	Data AugmentationDepth Estimation	CodeCode Available	1
Estimating Image Depth in the Comics Domain	Oct 7, 2021	Depth EstimationDepth Prediction	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
Expediting Large-Scale Vision Transformer for Dense Prediction without Fine-tuning	Oct 3, 2022	ClusteringDepth 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
Bridging Unsupervised and Supervised Depth from Focus via All-in-Focus Supervision	Aug 24, 2021	AllDepth Estimation	CodeCode Available	1
EPI-based Oriented Relation Networks for Light Field Depth Estimation	Jul 9, 2020	Data AugmentationDepth Estimation	CodeCode Available	1
Energy-Efficient Adaptive 3D Sensing	Jan 1, 2023	Depth EstimationStereo Depth Estimation	CodeCode Available	1
Bridging the Gap between Multi-focus and Multi-modal: A Focused Integration Framework for Multi-modal Image Fusion	Nov 3, 2023	Depth Estimationobject-detection	CodeCode Available	1
ES-Net: An Efficient Stereo Matching Network	Mar 5, 2021	Autonomous DrivingDepth Estimation	CodeCode Available	1
EvGGS: A Collaborative Learning Framework for Event-based Generalizable Gaussian Splatting	May 23, 2024	3D ReconstructionDepth Estimation	CodeCode Available	1
EVP: Enhanced Visual Perception using Inverse Multi-Attentive Feature Refinement and Regularized Image-Text Alignment	Dec 13, 2023	DecoderDepth Estimation	CodeCode Available	1
Active Perception with A Monocular Camera for Multiscopic Vision	Jan 22, 2020	Depth EstimationStereo Matching	CodeCode Available	1
Fast Neural Architecture Search of Compact Semantic Segmentation Models via Auxiliary Cells	Oct 25, 2018	Depth EstimationDepth Prediction	CodeCode Available	1
Exploring Sparse Visual Prompt for Domain Adaptive Dense Prediction	Mar 17, 2023	Depth EstimationDomain Adaptation	CodeCode Available	1
EndoDepth: A Benchmark for Assessing Robustness in Endoscopic Depth Prediction	Sep 30, 2024	Depth EstimationDepth Prediction	CodeCode Available	1
EndoMUST: Monocular Depth Estimation for Robotic Endoscopy via End-to-end Multi-step Self-supervised Training	Jun 19, 2025	Depth EstimationIntrinsic Image Decomposition	CodeCode Available	1
Depthformer : Multiscale Vision Transformer For Monocular Depth Estimation With Local Global Information Fusion	Jul 10, 2022	DecoderDepth Estimation	CodeCode Available	1
Efficient Neural Radiance Fields for Interactive Free-viewpoint Video	Dec 2, 2021	Depth EstimationDepth Prediction	CodeCode Available	1
Efficient Depth Estimation for Unstable Stereo Camera Systems on AR Glasses	Nov 15, 2024	Depth EstimationMulti-Task Learning	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