mlsanityData to 7 Oct 2026

Mirror3D: Depth Refinement for Mirror Surfaces

arXiv 2106.06629 ↗First posted 11 Jun 2021cs.CVcited by 13

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Abstract (arXiv)

Despite recent progress in depth sensing and 3D reconstruction, mirror surfaces are a significant source of errors. To address this problem, we create the Mirror3D dataset: a 3D mirror plane dataset based on three RGBD datasets (Matterport3D, NYUv2 and ScanNet) containing 7,011 mirror instance masks and 3D planes. We then develop Mirror3DNet: a module that refines raw sensor depth or estimated depth to correct errors on mirror surfaces. Our key idea is to estimate the 3D mirror plane based on RGB input and surrounding depth context, and use this estimate to directly regress mirror surface depth. Our experiments show that Mirror3DNet significantly mitigates errors from a variety of input depth data, including raw sensor depth and depth estimation or completion methods.

Key facts. Cited by 13 papers in the map (data through 7 Oct 2026). Builds on 27 of its 45 references that are in the map. First posted on arXiv 11 Jun 2021.

Builds on

27 of 45 references.

References · 27

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  3. 2019PyTorch: An Imperative Style, High-Performance Deep Learning Librarycited by 20,160
  4. 2017Mask R-CNNcited by 7,259
  5. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,088
  6. 2019Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfercited by 1,484
  7. 2017Matterport3D: Learning from RGB-D Data in Indoor Environmentscited by 1,354
  8. 2014Depth Map Prediction from a Single Image using a Multi-Scale Deep Networkcited by 1,264
  9. 2018Open3D: A Modern Library for 3D Data Processingcited by 717
  10. 2016Direct Sparse Odometrycited by 479
  11. 2019From Big to Small: Multi-Scale Local Planar Guidance for Monocular Depth Estimationcited by 379
  12. 2019Structured3D: A Large Photo-realistic Dataset for Structured 3D Modelingcited by 285
15 more
  1. 2019Enforcing geometric constraints of virtual normal for depth predictioncited by 233
  2. 2020Non-Local Spatial Propagation Network for Depth Completioncited by 194
  3. 2018Unsupervised Learning of Depth and Ego-Motion from Monocular Video Using 3D Geometric Constraintscited by 179
  4. 2018High Quality Monocular Depth Estimation via Transfer Learningcited by 133
  5. 2018Deep Depth Completion of a Single RGB-D Imagecited by 110
  6. 2018PlaneRCNN: 3D Plane Detection and Reconstruction from a Single Imagecited by 105
  7. 2016Estimating Depth from Monocular Images as Classification Using Deep Fully Convolutional Residual Networkscited by 91
  8. 2018PlaneNet: Piece-wise Planar Reconstruction from a Single RGB Imagecited by 77
  9. 2019Single-Image Piece-wise Planar 3D Reconstruction via Associative Embeddingcited by 56
  10. 2019StereoDRNet: Dilated Residual Stereo Netcited by 29
  11. 2019Indoor Depth Completion with Boundary Consistency and Self-Attentioncited by 29
  12. 2020On Deep Learning Techniques to Boost Monocular Depth Estimation for Autonomous Navigationcited by 17
  13. 2020Multi-modal Transfer Learning for Grasping Transparent and Specular Objectscited by 13
  14. 2016Fine-To-Coarse Global Registration of RGB-D Scanscited by 7
  15. 2014Cavlectometry: Towards Holistic Reconstruction of Large Mirror Objectscited by 3

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 1; 2022: 2; 2023: 1; 2024: 4; 2025: 4; 2026: 1.

13 papers.

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  1. 2022Glass Segmentation with RGB-Thermal Image Pairscited by 26
  2. 2021Improving 360 Monocular Depth Estimation via Non-local Dense Prediction Transformer and Joint Supervised and Self-supervised Learningcited by 19
  3. 2022A Survey on RGB-D Datasetscited by 11
  4. 2024Towards Robust Monocular Depth Estimation in Non-Lambertian Surfacescited by 9
  5. 2024Diffusion-Based Depth Inpainting for Transparent and Reflective Objectscited by 9
  6. 2025MirrorVerse: Pushing Diffusion Models to Realistically Reflect the Worldcited by 8
  7. 2025Deep Learning in Concealed Dense Predictioncited by 6
  8. 20243DRef: 3D Dataset and Benchmark for Reflection Detection in RGB and Lidar Datacited by 3
  9. 2025Reflect3r: Single-View 3D Stereo Reconstruction Aided by Mirror Reflectionscited by 2
  10. 2025DEPTHOR++: Robust Depth Enhancement from a Real-World Lightweight dToF and RGB Guidancecited by 1
  11. 2023DEUX: Active Exploration for Learning Unsupervised Depth Perceptioncited by 0
  12. 2024Fusion of Short-term and Long-term Attention for Video Mirror Detectioncited by 0
1 more
  1. 2026GIFT: Geometry-Invariant Fine-Tuning for Non-Lambertian Monocular Depth Estimationcited by 0