# Enhancing image captioning with depth information using a Transformer-based framework

arXiv: https://arxiv.org/abs/2308.03767 · HTML: https://mlsanity.com/paper/2308.03767/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 41 of its 60 references that are in the map.
- First posted on arXiv 24 Jul 2023.

## Builds on (most cited first, 30 of 41)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [Bootstrap your own latent: A new approach to self-supervised Learning](https://mlsanity.com/paper/2006.07733/) (2020)
- [Sequence to Sequence Learning with Neural Networks](https://mlsanity.com/paper/1409.3215/) (2014)
- [Exploring Simple Siamese Representation Learning](https://mlsanity.com/paper/2011.10566/) (2020)
- [Visual Genome: Connecting Language and Vision Using Crowdsourced Dense Image Annotations](https://mlsanity.com/paper/1602.07332/) (2016)
- [VQA: Visual Question Answering](https://mlsanity.com/paper/1505.00468/) (2015)
- [CIDEr: Consensus-based Image Description Evaluation](https://mlsanity.com/paper/1411.5726/) (2014)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [Show, Attend and Tell: Neural Image Caption Generation with Visual Attention](https://mlsanity.com/paper/1502.03044/) (2015)
- [Bottom-Up and Top-Down Attention for Image Captioning and Visual Question Answering](https://mlsanity.com/paper/1707.07998/) (2017)
- [Show and Tell: A Neural Image Caption Generator](https://mlsanity.com/paper/1411.4555/) (2014)
- [TensorFlow: Large-Scale Machine Learning on Heterogeneous Distributed Systems](https://mlsanity.com/paper/1603.04467/) (2016)
- [Fully-Convolutional Siamese Networks for Object Tracking](https://mlsanity.com/paper/1606.09549/) (2016)
- [ScanRefer: 3D Object Localization in RGB-D Scans using Natural Language](https://mlsanity.com/paper/1912.08830/) (2019)
- [Stacked Cross Attention for Image-Text Matching](https://mlsanity.com/paper/1803.08024/) (2018)
- [Meshed-Memory Transformer for Image Captioning](https://mlsanity.com/paper/1912.08226/) (2019)
- [Deep Modular Co-Attention Networks for Visual Question Answering](https://mlsanity.com/paper/1906.10770/) (2019)
- [VirTex: Learning Visual Representations from Textual Annotations](https://mlsanity.com/paper/2006.06666/) (2020)
- [Omnidata: A Scalable Pipeline for Making Multi-Task Mid-Level Vision Datasets from 3D Scans](https://mlsanity.com/paper/2110.04994/) (2021)
- [MultiMAE: Multi-modal Multi-task Masked Autoencoders](https://mlsanity.com/paper/2204.01678/) (2022)
- [Attention on Attention for Image Captioning](https://mlsanity.com/paper/1908.06954/) (2019)
- [Image Captioning with Semantic Attention](https://mlsanity.com/paper/1603.03925/) (2016)
- [Knowing When to Look: Adaptive Attention via A Visual Sentinel for Image Captioning](https://mlsanity.com/paper/1612.01887/) (2016)
- [Image Captioning: Transforming Objects into Words](https://mlsanity.com/paper/1906.05963/) (2019)
- [Reviving Iterative Training with Mask Guidance for Interactive Segmentation](https://mlsanity.com/paper/2102.06583/) (2021)

## Built on by (most cited first, 3 of 3)

- [Language-Depth Navigated Thermal and Visible Image Fusion](https://mlsanity.com/paper/2503.08676/) (2025)
- [ByDeWay: Boost Your multimodal LLM with DEpth prompting in a Training-Free Way](https://mlsanity.com/paper/2507.08679/) (2025)
- [Predicting Winning Captions for Weekly New Yorker Comics](https://mlsanity.com/paper/2407.18949/) (2024)

## Abstract (arXiv)

Captioning images is a challenging scene-understanding task that connects computer vision and natural language processing. While image captioning models have been successful in producing excellent descriptions, the field has primarily focused on generating a single sentence for 2D images. This paper investigates whether integrating depth information with RGB images can enhance the captioning task and generate better descriptions. For this purpose, we propose a Transformer-based encoder-decoder framework for generating a multi-sentence description of a 3D scene. The RGB image and its corresponding depth map are provided as inputs to our framework, which combines them to produce a better understanding of the input scene. Depth maps could be ground truth or estimated, which makes our framework widely applicable to any RGB captioning dataset. We explored different fusion approaches to fuse RGB and depth images. The experiments are performed on the NYU-v2 dataset and the Stanford image paragraph captioning dataset. During our work with the NYU-v2 dataset, we found inconsistent labeling that prevents the benefit of using depth information to enhance the captioning task. The results were even worse than using RGB images only. As a result, we propose a cleaned version of the NYU-v2 dataset that is more consistent and informative. Our results on both datasets demonstrate that the proposed framework effectively benefits from depth information, whether it is ground truth or estimated, and generates better captions. Code, pre-trained models, and the cleaned version of the NYU-v2 dataset will be made publically available.