mlsanityData to 7 Oct 2026

Learning a Depth Covariance Function

arXiv 2303.12157 ↗First posted 21 Mar 2023cs.CV cs.LG cs.ROcited by 16

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Abstract (arXiv)

We propose learning a depth covariance function with applications to geometric vision tasks. Given RGB images as input, the covariance function can be flexibly used to define priors over depth functions, predictive distributions given observations, and methods for active point selection. We leverage these techniques for a selection of downstream tasks: depth completion, bundle adjustment, and monocular dense visual odometry.

Key facts. Cited by 16 papers in the map (data through 7 Oct 2026). Builds on 30 of its 56 references that are in the map. First posted on arXiv 21 Mar 2023.

Builds on

30 of 56 references.

References · 30

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  3. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,604
  4. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,088
  5. 2017What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?cited by 2,335
  6. 2018Group Normalizationcited by 1,514
  7. 2019Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfercited by 1,484
  8. 2014Depth Map Prediction from a Single Image using a Multi-Scale Deep Networkcited by 1,264
  9. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 801
  10. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 673
  11. 2015Deep Kernel Learningcited by 440
  12. 2018Accurate Uncertainties for Deep Learning Using Calibrated Regressioncited by 417
18 more
  1. 2020Non-Local Spatial Propagation Network for Depth Completioncited by 194
  2. 2018DeepV2D: Video to Depth with Differentiable Structure from Motioncited by 185
  3. 2018BA-Net: Dense Bundle Adjustment Networkcited by 173
  4. 2017Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Imagecited by 159
  5. 2018CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAMcited by 151
  6. 2020DeepFactors: Real-Time Probabilistic Dense Monocular SLAMcited by 117
  7. 2018Depth Estimation via Affinity Learned with Convolutional Spatial Propagation Networkcited by 109
  8. 2020TartanVO: A Generalizable Learning-based VOcited by 107
  9. 2021The Promises and Pitfalls of Deep Kernel Learningcited by 81
  10. 2021RigNet: Repetitive Image Guided Network for Depth Completioncited by 80
  11. 2016Understanding Probabilistic Sparse Gaussian Process Approximationscited by 68
  12. 2018Structured Uncertainty Prediction Networkscited by 34
  13. 2022IronDepth: Iterative Refinement of Single-View Depth using Surface Normal and its Uncertaintycited by 30
  14. 2022Sparsity Agnostic Depth Completioncited by 27
  15. 2022Learning Structured Gaussians to Approximate Deep Ensemblescited by 8
  16. 2020Balanced Depth Completion between Dense Depth Inference and Sparse Range Measurements via KISS-GPcited by 6
  17. 2020RidgeSfM: Structure from Motion via Robust Pairwise Matching Under Depth Uncertaintycited by 4
  18. 2022AK: Attentive Kernel for Information Gatheringcited by 2

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 3; 2024: 8; 2025: 3; 2026: 2.

16 papers.

Sort:

  1. 2023Gaussian Splatting SLAMcited by 410
  2. 20243D Reconstruction with Spatial Memorycited by 269
  3. 2024MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priorscited by 198
  4. 2025MUSt3R: Multi-view Network for Stereo 3D Reconstructioncited by 139
  5. 2023Neural feels with neural fields: Visuo-tactile perception for in-hand manipulationcited by 28
  6. 2024Depth Prompting for Sensor-Agnostic Depth Estimationcited by 26
  7. 2024PreF3R: Pose-Free Feed-Forward 3D Gaussian Splatting from Variable-length Image Sequencecited by 26
  8. 2024MAC-VO: Metrics-aware Covariance for Learning-based Stereo Visual Odometrycited by 19
  9. 2025AMB3R: Accurate Feed-forward Metric-scale 3D Reconstruction with Backendcited by 16
  10. 2023SuperPrimitive: Scene Reconstruction at a Primitive Levelcited by 11
  11. 2024COMO: Compact Mapping and Odometrycited by 10
  12. 2024SceneFactory: A Workflow-centric and Unified Framework for Incremental Scene Modelingcited by 3
4 more
  1. 2025GI-SLAM: Gaussian-Inertial SLAMcited by 2
  2. 2026UniQueR: Unified Query-based Feedforward 3D Reconstructioncited by 2
  3. 2024UDGS-SLAM : UniDepth Assisted Gaussian Splatting for Monocular SLAMcited by 0
  4. 2026BLASt3R: Bundle Adjustment of Any Image Set with Multi-View Matching and Monocular Priorscited by 0