mlsanityData to 7 Oct 2026

Sparsity Agnostic Depth Completion

arXiv 2212.00790 ↗First posted 1 Dec 2022cs.CVcited by 27

Not on the map. Why?

Abstract (arXiv)

We present a novel depth completion approach agnostic to the sparsity of depth points, that is very likely to vary in many practical applications. State-of-the-art approaches yield accurate results only when processing a specific density and distribution of input points, i.e. the one observed during training, narrowing their deployment in real use cases. On the contrary, our solution is robust to uneven distributions and extremely low densities never witnessed during training. Experimental results on standard indoor and outdoor benchmarks highlight the robustness of our framework, achieving accuracy comparable to state-of-the-art methods when tested with density and distribution equal to the training one while being much more accurate in the other cases. Our pretrained models and further material are available in our project page.

Key facts. Cited by 27 papers in the map (data through 7 Oct 2026). Builds on 34 of its 47 references that are in the map. First posted on arXiv 1 Dec 2022.

Builds on

34 of 47 references.

References · 34

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  3. 2014ImageNet Large Scale Visual Recognition Challengecited by 8,441
  4. 2015Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shiftcited by 6,979
  5. 2016Densely Connected Convolutional Networkscited by 6,691
  6. 2016Aggregated Residual Transformations for Deep Neural Networkscited by 2,540
  7. 2019Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfercited by 1,484
  8. 2017Deformable Convolutional Networkscited by 1,481
  9. 2014Depth Map Prediction from a Single Image using a Multi-Scale Deep Networkcited by 1,264
  10. 20194D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networkscited by 1,201
  11. 2018MVSNet: Depth Inference for Unstructured Multi-view Stereocited by 780
  12. 2018Deep Ordinal Regression Network for Monocular Depth Estimationcited by 721
22 more
  1. 2019From Big to Small: Multi-Scale Local Planar Guidance for Monocular Depth Estimationcited by 379
  2. 2014Stochastic Gradient Hamiltonian Monte Carlocited by 341
  3. 2017Sparsity Invariant CNNscited by 325
  4. 2020Non-Local Spatial Propagation Network for Depth Completioncited by 194
  5. 2020On the uncertainty of self-supervised monocular depth estimationcited by 182
  6. 2017Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Imagecited by 159
  7. 2021PENet: Towards Precise and Efficient Image Guided Depth Completioncited by 146
  8. 2018Self-supervised Sparse-to-Dense: Self-supervised Depth Completion from LiDAR and Monocular Cameracited by 140
  9. 2019Learning Guided Convolutional Network for Depth Completioncited by 111
  10. 2018Depth Estimation via Affinity Learned with Convolutional Spatial Propagation Networkcited by 109
  11. 2020ViP-DeepLab: Learning Visual Perception with Depth-aware Video Panoptic Segmentationcited by 95
  12. 2019Unsupervised Depth Completion from Visual Inertial Odometrycited by 88
  13. 2017Learning Affinity via Spatial Propagation Networkscited by 79
  14. 2021Unsupervised Depth Completion with Calibrated Backprojection Layerscited by 61
  15. 2019DepthTransfer: Depth Extraction from Video Using Non-parametric Samplingcited by 60
  16. 2020Uncertainty-Aware CNNs for Depth Completion: Uncertainty from Beginning to Endcited by 55
  17. 2020Bidirectional Attention Network for Monocular Depth Estimationcited by 48
  18. 2020Depth Estimation from Monocular Images and Sparse Radar Datacited by 44
  19. 2021Sparse Auxiliary Networks for Unified Monocular Depth Prediction and Completioncited by 39
  20. 2021Learning Topology from Synthetic Data for Unsupervised Depth Completioncited by 38
  21. 2021A Surface Geometry Model for LiDAR Depth Completioncited by 18
  22. 2022A Low Memory Footprint Quantized Neural Network for Depth Completion of Very Sparse Time-of-Flight Depth Mapscited by 6

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 4; 2024: 13; 2025: 7; 2026: 3.

27 papers.

Sort:

By area:

  1. 2024Bilateral Propagation Network for Depth Completioncited by 59
  2. 2024Marigold-DC: Zero-Shot Monocular Depth Completion with Guided Diffusioncited by 47
  3. 2024OMNI-DC: Highly Robust Depth Completion with Multiresolution Depth Integrationcited by 28
  4. 2024Depth Prompting for Sensor-Agnostic Depth Estimationcited by 26
  5. 2024OGNI-DC: Robust Depth Completion with Optimization-Guided Neural Iterationscited by 23
  6. 2023Revisiting Depth Completion from a Stereo Matching Perspective for Cross-domain Generalizationcited by 18
  7. 2025Multi-view Reconstruction via SfM-guided Monocular Depth Estimationcited by 17
  8. 2023Learning a Depth Covariance Functioncited by 16
  9. 2025Distilling Monocular Foundation Model for Fine-grained Depth Completioncited by 14
  10. 2024DoubleTake: Geometry Guided Depth Estimationcited by 9
  11. 2023Active Stereo Without Pattern Projectorcited by 8
  12. 2023SparseDC: Depth Completion from sparse and non-uniform inputscited by 8
15 more
  1. 2024RGB Guided ToF Imaging System: A Survey of Deep Learning-based Methodscited by 8
  2. 2024GET-UP: GEomeTric-aware Depth Estimation with Radar Points UPsamplingcited by 7
  3. 2024Masked Spatial Propagation Network for Sparsity-Adaptive Depth Refinementcited by 5
  4. 2025PacGDC: Label-Efficient Generalizable Depth Completion with Projection Ambiguity and Consistencycited by 4
  5. 2025DEPTHOR: Depth Enhancement from a Practical Light-Weight dToF Sensor and RGB Imagecited by 3
  6. 2024RoofDiffusion: Constructing Roofs from Severely Corrupted Point Data via Diffusioncited by 2
  7. 2024Depth on Demand: Streaming Dense Depth from a Low Frame Rate Active Sensorcited by 2
  8. 2024Progressive Depth Decoupling and Modulating for Flexible Depth Completioncited by 1
  9. 2025Perfecting Depth: Uncertainty-Aware Enhancement of Metric Depthcited by 1
  10. 2025SPADE: Sparsity Adaptive Depth Estimator for Zero-Shot, Real-Time, Monocular Depth Estimation in Underwater Environmentscited by 1
  11. 2025StarryGazer: Leveraging Monocular Depth Estimation Models for Domain-Agnostic Single Depth Image Completioncited by 1
  12. 2026Gaussian Belief Propagation Network for Depth Completioncited by 1
  13. 2024Active Stereo in the Wild through Virtual Pattern Projectioncited by 0
  14. 2026Need for Speed: Zero-Shot Depth Completion with Single-Step Diffusioncited by 0
  15. 2026ToFormer: Towards Large-scale Scenario Depth Completion for Lightweight ToF Cameracited by 0