# DiverseDepth: Affine-invariant Depth Prediction Using Diverse Data

arXiv: https://arxiv.org/abs/2002.00569 · HTML: https://mlsanity.com/paper/2002.00569/

## Key facts

- Cited by 61 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Feb 2020.

## Built on by (most cited first, 30 of 61)

- [Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Image](https://mlsanity.com/paper/2307.10984/) (2023)
- [Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation](https://mlsanity.com/paper/2312.02145/) (2023)
- [MoGe: Unlocking Accurate Monocular Geometry Estimation for Open-Domain Images with Optimal Training Supervision](https://mlsanity.com/paper/2410.19115/) (2024)
- [GeoWizard: Unleashing the Diffusion Priors for 3D Geometry Estimation from a Single Image](https://mlsanity.com/paper/2403.12013/) (2024)
- [NeuralLift-360: Lifting An In-the-wild 2D Photo to A 3D Object with 360deg Views](https://mlsanity.com/paper/2211.16431/) (2022)
- [Marigold: Affordable Adaptation of Diffusion-Based Image Generators for Image Analysis](https://mlsanity.com/paper/2505.09358/) (2025)
- [What Matters When Repurposing Diffusion Models for General Dense Perception Tasks?](https://mlsanity.com/paper/2403.06090/) (2024)
- [Depth Any Video with Scalable Synthetic Data](https://mlsanity.com/paper/2410.10815/) (2024)
- [Pixel-Perfect Depth with Semantics-Prompted Diffusion Transformers](https://mlsanity.com/paper/2510.07316/) (2025)
- [Marigold-DC: Zero-Shot Monocular Depth Completion with Guided Diffusion](https://mlsanity.com/paper/2412.13389/) (2024)
- [Virtual Normal: Enforcing Geometric Constraints for Accurate and Robust Depth Prediction](https://mlsanity.com/paper/2103.04216/) (2021)
- [Stereo Anywhere: Robust Zero-Shot Deep Stereo Matching Even Where Either Stereo or Mono Fail](https://mlsanity.com/paper/2412.04472/) (2024)
- [Towards Accurate Reconstruction of 3D Scene Shape from A Single Monocular Image](https://mlsanity.com/paper/2208.13241/) (2022)
- [One Diffusion to Generate Them All](https://mlsanity.com/paper/2411.16318/) (2024)
- [DICEPTION: A Generalist Diffusion Model for Visual Perceptual Tasks](https://mlsanity.com/paper/2502.17157/) (2025)
- [ChildPlay: A New Benchmark for Understanding Children's Gaze Behaviour](https://mlsanity.com/paper/2307.01630/) (2023)
- [Adaptive Fusion of Single-View and Multi-View Depth for Autonomous Driving](https://mlsanity.com/paper/2403.07535/) (2024)
- [Video Depth without Video Models](https://mlsanity.com/paper/2411.19189/) (2024)
- [BetterDepth: Plug-and-Play Diffusion Refiner for Zero-Shot Monocular Depth Estimation](https://mlsanity.com/paper/2407.17952/) (2024)
- [DepthLab: From Partial to Complete](https://mlsanity.com/paper/2412.18153/) (2024)
- [Flowing from Words to Pixels: A Noise-Free Framework for Cross-Modality Evolution](https://mlsanity.com/paper/2412.15213/) (2024)
- [Instance and Panoptic Segmentation Using Conditional Convolutions](https://mlsanity.com/paper/2102.03026/) (2021)
- [DepthMaster: Taming Diffusion Models for Monocular Depth Estimation](https://mlsanity.com/paper/2501.02576/) (2025)
- [MonSter++: Unified Stereo Matching, Multi-view Stereo, and Real-time Stereo with Monodepth Priors](https://mlsanity.com/paper/2501.08643/) (2025)
- [Improving Monocular Visual Odometry Using Learned Depth](https://mlsanity.com/paper/2204.01268/) (2022)
- [Boosting Light-Weight Depth Estimation Via Knowledge Distillation](https://mlsanity.com/paper/2105.06143/) (2021)
- [Distill Any Depth: Distillation Creates a Stronger Monocular Depth Estimator](https://mlsanity.com/paper/2502.19204/) (2025)
- [Depth AnyEvent: A Cross-Modal Distillation Paradigm for Event-Based Monocular Depth Estimation](https://mlsanity.com/paper/2509.15224/) (2025)
- [The Second Monocular Depth Estimation Challenge](https://mlsanity.com/paper/2304.07051/) (2023)
- [A Survey on RGB-D Datasets](https://mlsanity.com/paper/2201.05761/) (2022)

## Abstract (arXiv)

We present a method for depth estimation with monocular images, which can predict high-quality depth on diverse scenes up to an affine transformation, thus preserving accurate shapes of a scene. Previous methods that predict metric depth often work well only for a specific scene. In contrast, learning relative depth (information of being closer or further) can enjoy better generalization, with the price of failing to recover the accurate geometric shape of the scene. In this work, we propose a dataset and methods to tackle this dilemma, aiming to predict accurate depth up to an affine transformation with good generalization to diverse scenes. First we construct a large-scale and diverse dataset, termed Diverse Scene Depth dataset (DiverseDepth), which has a broad range of scenes and foreground contents. Compared with previous learning objectives, i.e., learning metric depth or relative depth, we propose to learn the affine-invariant depth using our diverse dataset to ensure both generalization and high-quality geometric shapes of scenes. Furthermore, in order to train the model on the complex dataset effectively, we propose a multi-curriculum learning method. Experiments show that our method outperforms previous methods on 8 datasets by a large margin with the zero-shot test setting, demonstrating the excellent generalization capacity of the learned model to diverse scenes. The reconstructed point clouds with the predicted depth show that our method can recover high-quality 3D shapes. Code and dataset are available at: https://tinyurl.com/DiverseDepth