mlsanityData to 14 Oct 2026

Learning Depth Estimation for Transparent and Mirror Surfaces

arXiv 2307.15052 ↗First posted 27 Jul 2023cs.CVcited by 34

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Abstract (arXiv)

Inferring the depth of transparent or mirror (ToM) surfaces represents a hard challenge for either sensors, algorithms, or deep networks. We propose a simple pipeline for learning to estimate depth properly for such surfaces with neural networks, without requiring any ground-truth annotation. We unveil how to obtain reliable pseudo labels by in-painting ToM objects in images and processing them with a monocular depth estimation model. These labels can be used to fine-tune existing monocular or stereo networks, to let them learn how to deal with ToM surfaces. Experimental results on the Booster dataset show the dramatic improvements enabled by our remarkably simple proposal.

Key facts. Cited by 34 papers in the map (data through 14 Oct 2026). Builds on 54 of its 72 references that are in the map. First posted on arXiv 27 Jul 2023.

Builds on

54 of 72 references.

References · 54

  1. 2021Vision Transformers for Dense Predictioncited by 1,803
  2. 2019Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfercited by 1,495
  3. 2015A Large Dataset to Train Convolutional Networks for Disparity, Optical Flow, and Scene Flow Estimationcited by 881
  4. 2016Unsupervised Monocular Depth Estimation with Left-Right Consistencycited by 820
  5. 2017Unsupervised Learning of Depth and Ego-Motion from Videocited by 782
  6. 2020AdaBins: Depth Estimation using Adaptive Binscited by 601
  7. 2018Pyramid Stereo Matching Networkcited by 489
  8. 20193D Packing for Self-Supervised Monocular Depth Estimationcited by 439
  9. 2016Unsupervised CNN for Single View Depth Estimation: Geometry to the Rescuecited by 368
  10. 2017End-to-End Learning of Geometry and Context for Deep Stereo Regressioncited by 360
  11. 2021RAFT-Stereo: Multilevel Recurrent Field Transforms for Stereo Matchingcited by 353
  12. 2018GeoNet: Unsupervised Learning of Dense Depth, Optical Flow and Camera Posecited by 342
38 more
  1. 2019GA-Net: Guided Aggregation Net for End-to-end Stereo Matchingcited by 244
  2. 2019Group-wise Correlation Stereo Networkcited by 235
  3. 2020D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometrycited by 206
  4. 2022Practical Stereo Matching via Cascaded Recurrent Network with Adaptive Correlationcited by 197
  5. 2020Revisiting Stereo Depth Estimation From a Sequence-to-Sequence Perspective with Transformerscited by 190
  6. 2020On the uncertainty of self-supervised monocular depth estimationcited by 182
  7. 2018Unsupervised Learning of Depth and Ego-Motion from Monocular Video Using 3D Geometric Constraintscited by 179
  8. 2020Hierarchical Neural Architecture Search for Deep Stereo Matchingcited by 166
  9. 2018Unsupervised Learning of Monocular Depth Estimation and Visual Odometry with Deep Feature Reconstructioncited by 159
  10. 2021CFNet: Cascade and Fused Cost Volume for Robust Stereo Matchingcited by 154
  11. 2015Stereo Matching by Training a Convolutional Neural Network to Compare Image Patchescited by 151
  12. 2020Feature-metric Loss for Self-supervised Learning of Depth and Egomotioncited by 140
  13. 2018Learning Depth with Convolutional Spatial Propagation Networkcited by 136
  14. 2022MonoViT: Self-Supervised Monocular Depth Estimation with a Vision Transformercited by 136
  15. 2019Self-Supervised Monocular Depth Hintscited by 127
  16. 2019Hierarchical Deep Stereo Matching on High-resolution Imagescited by 126
  17. 2019ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulationcited by 124
  18. 2020HITNet: Hierarchical Iterative Tile Refinement Network for Real-time Stereo Matchingcited by 120
  19. 2020Self-supervised Monocular Trained Depth Estimation using Self-attention and Discrete Disparity Volumecited by 116
  20. 2019DeepPruner: Learning Efficient Stereo Matching via Differentiable PatchMatchcited by 114
  21. 2020Segmenting Transparent Objects in the Wildcited by 98
  22. 2018Hierarchical Discrete Distribution Decomposition for Match Density Estimationcited by 93
  23. 2018StereoNet: Guided Hierarchical Refinement for Real-Time Edge-Aware Depth Predictioncited by 88
  24. 2018SegStereo: Exploiting Semantic Information for Disparity Estimationcited by 88
  25. 2019KeyPose: Multi-View 3D Labeling and Keypoint Estimation for Transparent Objectscited by 75
  26. 2020Monocular Depth Estimation Based On Deep Learning: An Overviewcited by 68
  27. 2018SuperDepth: Self-Supervised, Super-Resolved Monocular Depth Estimationcited by 64
  28. 2019Learning monocular depth estimation infusing traditional stereo knowledgecited by 64
  29. 2017Cascade Residual Learning: A Two-stage Convolutional Neural Network for Stereo Matchingcited by 63
  30. 2020DeFeat-Net: General Monocular Depth via Simultaneous Unsupervised Representation Learningcited by 60
  31. 2018Anytime Stereo Image Depth Estimation on Mobile Devicescited by 54
  32. 2020Forget About the LiDAR: Self-Supervised Depth Estimators with MED Probability Volumescited by 50
  33. 2022Open Challenges in Deep Stereo: the Booster Datasetcited by 48
  34. 2022ClearPose: Large-scale Transparent Object Dataset and Benchmarkcited by 46
  35. 2018Unsupervised Adversarial Depth Estimation using Cycled Generative Networkscited by 45
  36. 2021StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimationcited by 40
  37. 2020Distilled Semantics for Comprehensive Scene Understanding from Videoscited by 39
  38. 2022Context-Enhanced Stereo Transformercited by 37

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 12; 2025: 15; 2026: 7.

34 papers.

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  1. 2024Depth Anything V2cited by 1,422
  2. 2025UniDepthV2: Universal Monocular Metric Depth Estimation Made Simplercited by 173
  3. 2024Stereo Anywhere: Robust Zero-Shot Deep Stereo Matching Even Where Either Stereo or Mono Failcited by 47
  4. 2024Diffusion Models for Monocular Depth Estimation: Overcoming Challenging Conditionscited by 29
  5. 2024Reversible Decoupling Network for Single Image Reflection Removalcited by 22
  6. 2024Mirror-3DGS: Incorporating Mirror Reflections into 3D Gaussian Splattingcited by 18
  7. 2024Robust Synthetic-to-Real Transfer for Stereo Matchingcited by 15
  8. 2024The Third Monocular Depth Estimation Challengecited by 10
  9. 2025Diffusion Knows Transparency: Repurposing Video Diffusion for Transparent Object Depth and Normal Estimationcited by 10
  10. 2024Towards Robust Monocular Depth Estimation in Non-Lambertian Surfacescited by 9
  11. 2024Diffusion-Based Depth Inpainting for Transparent and Reflective Objectscited by 9
  12. 2025Seeing and Seeing Through the Glass: Real and Synthetic Data for Multi-Layer Depth Estimationcited by 8
22 more
  1. 2025The Fourth Monocular Depth Estimation Challengecited by 8
  2. 2025Rectifying Latent Space for Generative Single-Image Reflection Removalcited by 4
  3. 2025Multi-Label Stereo Matching for Transparent Scene Depth Estimationcited by 3
  4. 2025NTIRE 2025 Challenge on HR Depth from Images of Specular and Transparent Surfacescited by 3
  5. 2025DepthFocus: Controllable Depth Estimation for See-Through Scenescited by 3
  6. 2026SeeClear: Reliable Transparent Object Depth Estimation via Generative Opacificationcited by 2
  7. 2024Multi-Modality Driven LoRA for Adverse Condition Depth Estimationcited by 1
  8. 2025Real-Time Glass Detection and Reprojection using Sensor Fusion Onboard Aerial Robotscited by 1
  9. 2025EGSA-PT:Edge-Guided Spatial Attention with Progressive Training for Monocular Depth Estimation and Segmentation of Transparent Objectscited by 1
  10. 2026GeomPrompt: Geometric Prompt Learning for RGB-D Semantic Segmentation Under Missing and Degraded Depthcited by 1
  11. 2026OptiGeo: Efficient Monocular Geometry for Embodied Perception in Optically Challenging Scenescited by 1
  12. 2024Shape2.5D: A Dataset of Texture-less Surfaces for Depth and Normals Estimationcited by 0
  13. 2024A Practical Approach to Underwater Depth and Surface Normals Estimationcited by 0
  14. 2025Intrinsic Image Decomposition for Robust Self-supervised Monocular Depth Estimation on Reflective Surfacescited by 0
  15. 2025HTMNet: A Hybrid Network with Transformer-Mamba Bottleneck Multimodal Fusion for Transparent and Reflective Objects Depth Completioncited by 0
  16. 2025Stextsuperscript2Mtextsuperscript2: Scalable Stereo Matching Model for Reliable Depth Estimationcited by 0
  17. 2025BRIDGE -- Building Reinforcement-Learning Depth-to-Image Data Generation Engine for Monocular Depth Estimationcited by 0
  18. 2025The 3D Mirage: Probing and Taming 3D Hallucinationscited by 0
  19. 2026SeeGroup: Multi-Layer Depth Estimation of Transparent Surfaces via Self-Determined Groupingcited by 0
  20. 2026GIFT: Geometry-Invariant Fine-Tuning for Non-Lambertian Monocular Depth Estimationcited by 0
  21. 2026TransNormal-2: Geometry-Grounded Rectified Flow with Edge-Aware Decoding for Precise Normal Estimationcited by 0
  22. 2026GlassFormer: Learning Real-time Glass Segmentation using Radar-Depth Fusioncited by 0