# Depth Completion via Deep Basis Fitting

arXiv: https://arxiv.org/abs/1912.10336 · HTML: https://mlsanity.com/paper/1912.10336/

## Key facts

- Cited by 23 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Dec 2019.

## Built on by (most cited first, 23 of 23)

- [Unsupervised Depth Completion with Calibrated Backprojection Layers](https://mlsanity.com/paper/2108.10531/) (2021)
- [Bilateral Propagation Network for Depth Completion](https://mlsanity.com/paper/2403.11270/) (2024)
- [Synthetic Datasets for Autonomous Driving: A Survey](https://mlsanity.com/paper/2304.12205/) (2023)
- [Learning Topology from Synthetic Data for Unsupervised Depth Completion](https://mlsanity.com/paper/2106.02994/) (2021)
- [Deep Depth Completion from Extremely Sparse Data: A Survey](https://mlsanity.com/paper/2205.05335/) (2022)
- [An Adaptive Framework for Learning Unsupervised Depth Completion](https://mlsanity.com/paper/2106.03010/) (2021)
- [Test-Time Adaptation for Depth Completion](https://mlsanity.com/paper/2402.03312/) (2024)
- [Monitored Distillation for Positive Congruent Depth Completion](https://mlsanity.com/paper/2203.16034/) (2022)
- [Bayesian Deep Basis Fitting for Depth Completion with Uncertainty](https://mlsanity.com/paper/2103.15254/) (2021)
- [AugUndo: Scaling Up Augmentations for Monocular Depth Completion and Estimation](https://mlsanity.com/paper/2310.09739/) (2023)
- [Advancing Self-supervised Monocular Depth Learning with Sparse LiDAR](https://mlsanity.com/paper/2109.09628/) (2021)
- [Digging into Depth Priors for Outdoor Neural Radiance Fields](https://mlsanity.com/paper/2308.04413/) (2023)
- [RGB Guided ToF Imaging System: A Survey of Deep Learning-based Methods](https://mlsanity.com/paper/2405.10357/) (2024)
- [All-day Depth Completion](https://mlsanity.com/paper/2405.17315/) (2024)
- [MIPI 2022 Challenge on RGB+ToF Depth Completion: Dataset and Report](https://mlsanity.com/paper/2209.07057/) (2022)
- [A Low Memory Footprint Quantized Neural Network for Depth Completion of Very Sparse Time-of-Flight Depth Maps](https://mlsanity.com/paper/2205.12918/) (2022)
- [MIPI 2023 Challenge on RGB+ToF Depth Completion: Methods and Results](https://mlsanity.com/paper/2304.13916/) (2023)
- [ETA: Energy-based Test-time Adaptation for Depth Completion](https://mlsanity.com/paper/2508.05989/) (2025)
- [Depth Completion with Multiple Balanced Bases and Confidence for Dense Monocular SLAM](https://mlsanity.com/paper/2309.04145/) (2023)
- [A Two-Stage Masked Autoencoder Based Network for Indoor Depth Completion](https://mlsanity.com/paper/2406.09792/) (2024)
- [Gaussian Belief Propagation Network for Depth Completion](https://mlsanity.com/paper/2601.21291/) (2026)
- [Depth-Independent Depth Completion via Least Square Estimation](https://mlsanity.com/paper/2203.03317/) (2022)
- [Mask-adaptive Gated Convolution and Bi-directional Progressive Fusion Network for Depth Completion](https://mlsanity.com/paper/2401.07439/) (2024)

## Abstract (arXiv)

In this paper we consider the task of image-guided depth completion where our system must infer the depth at every pixel of an input image based on the image content and a sparse set of depth measurements. We propose a novel approach that builds upon the strengths of modern deep learning techniques and classical optimization algorithms and significantly improves performance. The proposed method replaces the final 1× 1 convolutional layer employed in most depth completion networks with a least squares fitting module which computes weights by fitting the implicit depth bases to the given sparse depth measurements. In addition, we show how our proposed method can be naturally extended to a multi-scale formulation for improved self-supervised training. We demonstrate through extensive experiments on various datasets that our approach achieves consistent improvements over state-of-the-art baseline methods with small computational overhead.