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 76–100 of 2454 papers

Title	Date	Tasks	Status	Hype
Consistent Video Depth Estimation	Apr 30, 2020	Depth EstimationMonocular Reconstruction	CodeCode Available	2
MonoDGP: Monocular 3D Object Detection with Decoupled-Query and Geometry-Error Priors	Oct 25, 2024	3D Object DetectionDepth Estimation	CodeCode Available	2
Multi-Task Learning as Multi-Objective Optimization	Oct 10, 2018	Depth EstimationGeneral Classification	CodeCode Available	2
OccNeRF: Advancing 3D Occupancy Prediction in LiDAR-Free Environments	Dec 14, 2023	Autonomous DrivingDepth Estimation	CodeCode Available	2
Lite-Mono: A Lightweight CNN and Transformer Architecture for Self-Supervised Monocular Depth Estimation	Nov 23, 2022	Depth EstimationMonocular Depth Estimation	CodeCode Available	2
Map-free Visual Relocalization: Metric Pose Relative to a Single Image	Oct 11, 2022	Depth EstimationDepth Prediction	CodeCode Available	2
Know Your Neighbors: Improving Single-View Reconstruction via Spatial Vision-Language Reasoning	Apr 4, 2024	3D Scene ReconstructionDepth Estimation	CodeCode Available	2
Learning to Recover 3D Scene Shape from a Single Image	Dec 17, 2020	3D Scene ReconstructionDepth Estimation	CodeCode Available	2
Joint 2D-3D Multi-Task Learning on Cityscapes-3D: 3D Detection, Segmentation, and Depth Estimation	Apr 3, 2023	3D Object DetectionAutonomous Driving	CodeCode Available	2
Boost 3D Reconstruction using Diffusion-based Monocular Camera Calibration	Nov 26, 2024	3D ReconstructionCamera Calibration	CodeCode Available	2
IDOL: Unified Dual-Modal Latent Diffusion for Human-Centric Joint Video-Depth Generation	Jul 15, 2024	DenoisingDepth Estimation	CodeCode Available	2
Kick Back & Relax++: Scaling Beyond Ground-Truth Depth with SlowTV & CribsTV	Mar 3, 2024	Depth EstimationMonocular Depth Estimation	CodeCode Available	2
MonoCD: Monocular 3D Object Detection with Complementary Depths	Apr 4, 2024	3D Object DetectionDepth Estimation	CodeCode Available	2
On Deep Learning for Geometric and Semantic Scene Understanding Using On-Vehicle 3D LiDAR	Nov 1, 2024	3D Semantic SegmentationAutonomous Driving	CodeCode Available	2
GeoBench: Benchmarking and Analyzing Monocular Geometry Estimation Models	Jun 18, 2024	BenchmarkingDepth Estimation	CodeCode Available	2
GeoMVSNet: Learning Multi-View Stereo With Geometry Perception	Jan 1, 2023	3D ReconstructionDepth Estimation	CodeCode Available	2
BEVStereo: Enhancing Depth Estimation in Multi-view 3D Object Detection with Dynamic Temporal Stereo	Sep 21, 2022	3D Object DetectionDepth Estimation	CodeCode Available	2
GPS-Gaussian: Generalizable Pixel-wise 3D Gaussian Splatting for Real-time Human Novel View Synthesis	Dec 4, 2023	2kDepth Estimation	CodeCode Available	2
BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detection	Jun 21, 2022	3D Object DetectionDepth Estimation	CodeCode Available	2
Few-shot Novel View Synthesis using Depth Aware 3D Gaussian Splatting	Oct 14, 2024	3DGSDepth Estimation	CodeCode Available	2
HoloTime: Taming Video Diffusion Models for Panoramic 4D Scene Generation	Apr 30, 2025	Depth EstimationScene Generation	CodeCode Available	2
ImOV3D: Learning Open-Vocabulary Point Clouds 3D Object Detection from Only 2D Images	Oct 31, 2024	3D Object DetectionDepth Estimation	CodeCode Available	2
InstructCV: Instruction-Tuned Text-to-Image Diffusion Models as Vision Generalists	Sep 30, 2023	Depth EstimationImage Generation	CodeCode Available	2
Boosting Monocular Depth Estimation Models to High-Resolution via Content-Adaptive Multi-Resolution Merging	May 28, 2021	Depth EstimationMonocular Depth Estimation	CodeCode Available	2
EndoDAC: Efficient Adapting Foundation Model for Self-Supervised Depth Estimation from Any Endoscopic Camera	May 14, 2024	Depth EstimationSurface Reconstruction	CodeCode Available	2

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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