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 101–125 of 2454 papers

Title	Date	Tasks	Status	Hype	Score
CroCo: Self-Supervised Pre-training for 3D Vision Tasks by Cross-View Completion	Oct 19, 2022	Camera Pose EstimationDepth Estimation	CodeCode Available	2	5
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	5
GeoMVSNet: Learning Multi-View Stereo With Geometry Perception	Jan 1, 2023	3D ReconstructionDepth Estimation	CodeCode Available	2	5
BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detection	Jun 21, 2022	3D Object DetectionDepth Estimation	CodeCode Available	2	5
GeoBench: Benchmarking and Analyzing Monocular Geometry Estimation Models	Jun 18, 2024	BenchmarkingDepth Estimation	CodeCode Available	2	5
MultiMAE: Multi-modal Multi-task Masked Autoencoders	Apr 4, 2022	Depth Estimationimage-classification	CodeCode Available	2	5
MUTR3D: A Multi-camera Tracking Framework via 3D-to-2D Queries	May 2, 2022	Autonomous DrivingDepth Estimation	CodeCode Available	2	5
GPS-Gaussian: Generalizable Pixel-wise 3D Gaussian Splatting for Real-time Human Novel View Synthesis	Dec 4, 2023	2kDepth Estimation	CodeCode Available	2	5
BEVStereo: Enhancing Depth Estimation in Multi-view 3D Object Detection with Dynamic Temporal Stereo	Sep 21, 2022	3D Object DetectionDepth Estimation	CodeCode Available	2	5
Neural Ray Surfaces for Self-Supervised Learning of Depth and Ego-motion	Aug 15, 2020	Depth EstimationMotion Estimation	CodeCode Available	2	5
A Unified Image-Dense Annotation Generation Model for Underwater Scenes	Mar 27, 2025	Depth EstimationPrediction	CodeCode Available	2	5
OPEN: Object-wise Position Embedding for Multi-view 3D Object Detection	Jul 15, 2024	3D Object DetectionDepth Estimation	CodeCode Available	2	5
HoloTime: Taming Video Diffusion Models for Panoramic 4D Scene Generation	Apr 30, 2025	Depth EstimationScene Generation	CodeCode Available	2	5
PanoDreamer: Optimization-Based Single Image to 360 3D Scene With Diffusion	Dec 6, 2024	3D Scene ReconstructionDepth Estimation	CodeCode Available	2	5
Kick Back & Relax++: Scaling Beyond Ground-Truth Depth with SlowTV & CribsTV	Mar 3, 2024	Depth EstimationMonocular Depth Estimation	CodeCode Available	2	5
Atlas: End-to-End 3D Scene Reconstruction from Posed Images	Mar 23, 2020	3D Reconstruction3D Scene Reconstruction	CodeCode Available	2	5
Boost 3D Reconstruction using Diffusion-based Monocular Camera Calibration	Nov 26, 2024	3D ReconstructionCamera Calibration	CodeCode Available	2	5
Physical 3D Adversarial Attacks against Monocular Depth Estimation in Autonomous Driving	Mar 26, 2024	Adversarial AttackAutonomous Driving	CodeCode Available	2	5
360MonoDepth: High-Resolution 360deg Monocular Depth Estimation	Jan 1, 2022	2kDepth Estimation	CodeCode Available	2	5
Few-shot Novel View Synthesis using Depth Aware 3D Gaussian Splatting	Oct 14, 2024	3DGSDepth Estimation	CodeCode Available	2	5
Enforcing geometric constraints of virtual normal for depth prediction	Jul 29, 2019	Depth EstimationDepth Prediction	CodeCode Available	2	5
Consistent Video Depth Estimation	Apr 30, 2020	Depth EstimationMonocular Reconstruction	CodeCode Available	2	5
Event-based Stereo Depth Estimation: A Survey	Sep 26, 2024	Depth EstimationNavigate	CodeCode Available	2	5
Deep3D: Fully Automatic 2D-to-3D Video Conversion with Deep Convolutional Neural Networks	Apr 13, 2016	Depth Estimation	CodeCode Available	2	5
EndoDAC: Efficient Adapting Foundation Model for Self-Supervised Depth Estimation from Any Endoscopic Camera	May 14, 2024	Depth EstimationSurface Reconstruction	CodeCode Available	2	5

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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