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 151–175 of 2454 papers

Title	Date	Tasks	Status	Hype
BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detection	Jun 21, 2022	3D Object DetectionDepth 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
BEVStereo: Enhancing Depth Estimation in Multi-view 3D Object Detection with Dynamic Temporal Stereo	Sep 21, 2022	3D Object DetectionDepth Estimation	CodeCode Available	2
Diffusion Models for Monocular Depth Estimation: Overcoming Challenging Conditions	Jul 23, 2024	Depth EstimationDepth Prediction	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
Map-free Visual Relocalization: Metric Pose Relative to a Single Image	Oct 11, 2022	Depth EstimationDepth Prediction	CodeCode Available	2
Behind the Scenes: Density Fields for Single View Reconstruction	Jan 18, 2023	Depth EstimationDepth Prediction	CodeCode Available	2
DiffusionDepth: Diffusion Denoising Approach for Monocular Depth Estimation	Mar 9, 2023	DecoderDenoising	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
Mono-ViFI: A Unified Learning Framework for Self-supervised Single- and Multi-frame Monocular Depth Estimation	Jul 19, 2024	Data AugmentationDepth Estimation	CodeCode Available	2
Detaching and Boosting: Dual Engine for Scale-Invariant Self-Supervised Monocular Depth Estimation	Oct 8, 2022	Data AugmentationDepth Estimation	CodeCode Available	1
Detecting Invisible People	Dec 15, 2020	Depth EstimationMonocular Depth Estimation	CodeCode Available	1
DEPTHOR: Depth Enhancement from a Practical Light-Weight dToF Sensor and RGB Image	Apr 2, 2025	Depth CompletionDepth Estimation	CodeCode Available	1
DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queries	Oct 13, 2021	3D Object DetectionAutonomous Driving	CodeCode Available	1
DepthLab: Real-Time 3D Interaction With Depth Maps for Mobile Augmented Reality	Oct 22, 2020	Depth And Camera MotionDepth Estimation	CodeCode Available	1
A Confidence-based Iterative Solver of Depths and Surface Normals for Deep Multi-view Stereo	Jan 19, 2022	Depth Estimation	CodeCode Available	1
Depth Map Decomposition for Monocular Depth Estimation	Aug 23, 2022	Depth EstimationMonocular Depth Estimation	CodeCode Available	1
Depthformer : Multiscale Vision Transformer For Monocular Depth Estimation With Local Global Information Fusion	Jul 10, 2022	DecoderDepth Estimation	CodeCode Available	1
A Concise but High-performing Network for Image Guided Depth Completion in Autonomous Driving	Jan 29, 2024	Autonomous DrivingDepth Completion	CodeCode Available	1
DevNet: Self-supervised Monocular Depth Learning via Density Volume Construction	Sep 14, 2022	Depth Estimation	CodeCode Available	1
Depth Estimation from Monocular Images and Sparse Radar Data	Sep 30, 2020	Depth Estimation	CodeCode Available	1
Always Clear Depth: Robust Monocular Depth Estimation under Adverse Weather	May 18, 2025	Autonomous DrivingDepth Estimation	CodeCode Available	1
Depth Estimation from Monocular Images and Sparse radar using Deep Ordinal Regression Network	Jul 15, 2021	Depth EstimationMonocular Depth Estimation	CodeCode Available	1
Depth estimation from 4D light field videos	Dec 5, 2020	Depth EstimationDisparity Estimation	CodeCode Available	1
altiro3D: Scene representation from single image and novel view synthesis	Apr 2, 2023	Depth EstimationMonocular Depth Estimation	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