# Confidence Guided Depth Completion Network

arXiv: https://arxiv.org/abs/2202.03257 · HTML: https://mlsanity.com/paper/2202.03257/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 11 of its 16 references that are in the map.
- First posted on arXiv 7 Feb 2022.

## Builds on (most cited first, 11 of 11)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Sparsity Invariant CNNs](https://mlsanity.com/paper/1708.06500/) (2017)
- [PENet: Towards Precise and Efficient Image Guided Depth Completion](https://mlsanity.com/paper/2103.00783/) (2021)
- [Learning Depth with Convolutional Spatial Propagation Network](https://mlsanity.com/paper/1810.02695/) (2018)
- [DeepLiDAR: Deep Surface Normal Guided Depth Prediction for Outdoor Scene from Sparse LiDAR Data and Single Color Image](https://mlsanity.com/paper/1812.00488/) (2018)
- [Learning Guided Convolutional Network for Depth Completion](https://mlsanity.com/paper/1908.01238/) (2019)
- [CSPN++: Learning Context and Resource Aware Convolutional Spatial Propagation Networks for Depth Completion](https://mlsanity.com/paper/1911.05377/) (2019)
- [Depth Completion from Sparse LiDAR Data with Depth-Normal Constraints](https://mlsanity.com/paper/1910.06727/) (2019)
- [Sparse and noisy LiDAR completion with RGB guidance and uncertainty](https://mlsanity.com/paper/1902.05356/) (2019)
- [Adaptive Context-Aware Multi-Modal Network for Depth Completion](https://mlsanity.com/paper/2008.10833/) (2020)
- [Depth Completion using Plane-Residual Representation](https://mlsanity.com/paper/2104.07350/) (2021)

## Abstract (arXiv)

The paper proposes an image-guided depth completion method to estimate accurate dense depth maps with fast computation time. The proposed network has two-stage structure. The first stage predicts a first depth map. Then, the second stage further refines the first depth map using the confidence maps. The second stage consists of two layers, each of which focuses on different regions and generates a refined depth map and a confidence map. The final depth map is obtained by combining two depth maps from the second stage using the corresponding confidence maps. Compared with the top-ranked models on the KITTI depth completion online leaderboard, the proposed model shows much faster computation time and competitive performance.