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 201–225 of 2454 papers

Title	Date	Tasks	Status	Hype
Digging into contrastive learning for robust depth estimation with diffusion models	Apr 15, 2024	Contrastive LearningDenoising	CodeCode Available	1
DevNet: Self-supervised Monocular Depth Learning via Density Volume Construction	Sep 14, 2022	Depth 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
DID-M3D: Decoupling Instance Depth for Monocular 3D Object Detection	Jul 18, 2022	3D Object DetectionAttribute	CodeCode Available	1
Detaching and Boosting: Dual Engine for Scale-Invariant Self-Supervised Monocular Depth Estimation	Oct 8, 2022	Data AugmentationDepth Estimation	CodeCode Available	1
A geometry-aware deep network for depth estimation in monocular endoscopy	Apr 20, 2023	3D ReconstructionAnatomy	CodeCode Available	1
Detecting Invisible People	Dec 15, 2020	Depth EstimationMonocular Depth Estimation	CodeCode Available	1
BaseBoostDepth: Exploiting Larger Baselines For Self-supervised Monocular Depth Estimation	Jul 29, 2024	Depth EstimationMonocular Depth Estimation	CodeCode Available	1
BayesCap: Bayesian Identity Cap for Calibrated Uncertainty in Frozen Neural Networks	Jul 14, 2022	Autonomous DrivingDeblurring	CodeCode Available	1
Discrete Cosine Transform Network for Guided Depth Map Super-Resolution	Apr 14, 2021	Depth EstimationDepth Map Super-Resolution	CodeCode Available	1
Disparity Estimation Using a Quad-Pixel Sensor	Sep 1, 2024	Depth EstimationDisparity Estimation	CodeCode Available	1
Bayes' Rays: Uncertainty Quantification for Neural Radiance Fields	Sep 6, 2023	Depth EstimationNeRF	CodeCode Available	1
Differentiable Diffusion for Dense Depth Estimation from Multi-view Images	Jun 16, 2021	Depth Estimation	CodeCode Available	1
Digging Into Self-Supervised Monocular Depth Estimation	Jun 4, 2018	Camera Pose EstimationDepth Estimation	CodeCode Available	1
Depth Map Decomposition for Monocular Depth Estimation	Aug 23, 2022	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
Depthformer : Multiscale Vision Transformer For Monocular Depth Estimation With Local Global Information Fusion	Jul 10, 2022	DecoderDepth Estimation	CodeCode Available	1
Does it work outside this benchmark? Introducing the Rigid Depth Constructor tool, depth validation dataset construction in rigid scenes for the masses	Mar 29, 2021	Depth EstimationDepth Prediction	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
Depth Estimation from Monocular Images and Sparse radar using Deep Ordinal Regression Network	Jul 15, 2021	Depth EstimationMonocular Depth Estimation	CodeCode Available	1
BEV-LGKD: A Unified LiDAR-Guided Knowledge Distillation Framework for BEV 3D Object Detection	Dec 1, 2022	3D Object DetectionAutonomous Driving	CodeCode Available	1
BEVNeXt: Reviving Dense BEV Frameworks for 3D Object Detection	Dec 4, 2023	3D Object DetectionDecoder	CodeCode Available	1
AeDet: Azimuth-invariant Multi-view 3D Object Detection	Nov 22, 2022	3D Object DetectionDepth Estimation	CodeCode Available	1
Boosting Omnidirectional Stereo Matching with a Pre-trained Depth Foundation Model	Mar 30, 2025	Depth EstimationMonocular Depth Estimation	CodeCode Available	1
Boosting Light-Weight Depth Estimation Via Knowledge Distillation	May 13, 2021	Computational EfficiencyDepth 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