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 126–150 of 2454 papers

Title	Date	Tasks	Status	Hype
OccNeRF: Advancing 3D Occupancy Prediction in LiDAR-Free Environments	Dec 14, 2023	Autonomous DrivingDepth Estimation	CodeCode Available	2
HybridDepth: Robust Metric Depth Fusion by Leveraging Depth from Focus and Single-Image Priors	Jul 26, 2024	Depth EstimationGPU	CodeCode Available	2
HoloTime: Taming Video Diffusion Models for Panoramic 4D Scene Generation	Apr 30, 2025	Depth EstimationScene Generation	CodeCode Available	2
GeoMVSNet: Learning Multi-View Stereo With Geometry Perception	Jan 1, 2023	3D ReconstructionDepth Estimation	CodeCode Available	2
GeoBench: Benchmarking and Analyzing Monocular Geometry Estimation Models	Jun 18, 2024	BenchmarkingDepth 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
IDOL: Unified Dual-Modal Latent Diffusion for Human-Centric Joint Video-Depth Generation	Jul 15, 2024	DenoisingDepth Estimation	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
Boost 3D Reconstruction using Diffusion-based Monocular Camera Calibration	Nov 26, 2024	3D ReconstructionCamera Calibration	CodeCode Available	2
Adaptive Fusion of Single-View and Multi-View Depth for Autonomous Driving	Mar 12, 2024	Autonomous DrivingDepth Estimation	CodeCode Available	2
Few-shot Novel View Synthesis using Depth Aware 3D Gaussian Splatting	Oct 14, 2024	3DGSDepth Estimation	CodeCode Available	2
BinsFormer: Revisiting Adaptive Bins for Monocular Depth Estimation	Apr 3, 2022	DecoderDepth Estimation	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
BEVStereo: Enhancing Depth Estimation in Multi-view 3D Object Detection with Dynamic Temporal Stereo	Sep 21, 2022	3D Object DetectionDepth Estimation	CodeCode Available	2
DurLAR: A High-fidelity 128-channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-modal Autonomous Driving Applications	Jun 14, 2024	Autonomous DrivingDepth Estimation	CodeCode Available	2
EA-LSS: Edge-aware Lift-splat-shot Framework for 3D BEV Object Detection	Mar 31, 2023	3D Object DetectionDepth 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
BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detection	Jun 21, 2022	3D Object DetectionDepth Estimation	CodeCode Available	2
Driv3R: Learning Dense 4D Reconstruction for Autonomous Driving	Dec 9, 2024	4D reconstructionAutonomous Driving	CodeCode Available	2
Behind the Scenes: Density Fields for Single View Reconstruction	Jan 18, 2023	Depth EstimationDepth Prediction	CodeCode Available	2
Enforcing geometric constraints of virtual normal for depth prediction	Jul 29, 2019	Depth EstimationDepth Prediction	CodeCode Available	2
Diffusion Models for Monocular Depth Estimation: Overcoming Challenging Conditions	Jul 23, 2024	Depth EstimationDepth Prediction	CodeCode Available	2
A Unified Image-Dense Annotation Generation Model for Underwater Scenes	Mar 27, 2025	Depth EstimationPrediction	CodeCode Available	2
Depth-Regularized Optimization for 3D Gaussian Splatting in Few-Shot Images	Nov 22, 2023	Depth EstimationMonocular Depth Estimation	CodeCode Available	2
DiffusionDepth: Diffusion Denoising Approach for Monocular Depth Estimation	Mar 9, 2023	DecoderDenoising	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