# AGG-Net: Attention Guided Gated-convolutional Network for Depth Image Completion

arXiv: https://arxiv.org/abs/2309.01624 · HTML: https://mlsanity.com/paper/2309.01624/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- Builds on 23 of its 37 references that are in the map.
- First posted on arXiv 4 Sep 2023.

## Builds on (most cited first, 23 of 23)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Squeeze-and-Excitation Networks](https://mlsanity.com/paper/1709.01507/) (2017)
- [Pyramid Scene Parsing Network](https://mlsanity.com/paper/1612.01105/) (2016)
- [Attention U-Net: Learning Where to Look for the Pancreas](https://mlsanity.com/paper/1804.03999/) (2018)
- [Spatial Transformer Networks](https://mlsanity.com/paper/1506.02025/) (2015)
- [Random Erasing Data Augmentation](https://mlsanity.com/paper/1708.04896/) (2017)
- [Learning Transferable Architectures for Scalable Image Recognition](https://mlsanity.com/paper/1707.07012/) (2017)
- [Free-Form Image Inpainting with Gated Convolution](https://mlsanity.com/paper/1806.03589/) (2018)
- [Image Inpainting for Irregular Holes Using Partial Convolutions](https://mlsanity.com/paper/1804.07723/) (2018)
- [Pyramid Stereo Matching Network](https://mlsanity.com/paper/1803.08669/) (2018)
- [DeepDriving: Learning Affordance for Direct Perception in Autonomous Driving](https://mlsanity.com/paper/1505.00256/) (2015)
- [Non-Local Spatial Propagation Network for Depth Completion](https://mlsanity.com/paper/2007.10042/) (2020)
- [Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Image](https://mlsanity.com/paper/1709.07492/) (2017)
- [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)
- [Deep Depth Completion of a Single RGB-D Image](https://mlsanity.com/paper/1803.09326/) (2018)
- [RigNet: Repetitive Image Guided Network for Depth Completion](https://mlsanity.com/paper/2107.13802/) (2021)
- [Sparse and Dense Data with CNNs: Depth Completion and Semantic Segmentation](https://mlsanity.com/paper/1808.00769/) (2018)
- [DFuseNet: Deep Fusion of RGB and Sparse Depth Information for Image Guided Dense Depth Completion](https://mlsanity.com/paper/1902.00761/) (2019)
- [Indoor Depth Completion with Boundary Consistency and Self-Attention](https://mlsanity.com/paper/1908.08344/) (2019)
- [Depth Completion using Plane-Residual Representation](https://mlsanity.com/paper/2104.07350/) (2021)
- [RGB-Depth Fusion GAN for Indoor Depth Completion](https://mlsanity.com/paper/2203.10856/) (2022)

## Built on by (most cited first, 8 of 8)

- [Tri-Perspective View Decomposition for Geometry-Aware Depth Completion](https://mlsanity.com/paper/2403.15008/) (2024)
- [Completion as Enhancement: A Degradation-Aware Selective Image Guided Network for Depth Completion](https://mlsanity.com/paper/2412.19225/) (2024)
- [RGB Guided ToF Imaging System: A Survey of Deep Learning-based Methods](https://mlsanity.com/paper/2405.10357/) (2024)
- [Mango-GS: Enhancing Spatio-Temporal Consistency in Dynamic Scenes Reconstruction using Multi-Frame Node-Guided 4D Gaussian Splatting](https://mlsanity.com/paper/2603.11543/) (2026)
- [Mask-adaptive Gated Convolution and Bi-directional Progressive Fusion Network for Depth Completion](https://mlsanity.com/paper/2401.07439/) (2024)
- [GAA-TSO: Geometry-Aware Assisted Depth Completion for Transparent and Specular Objects](https://mlsanity.com/paper/2503.17106/) (2025)
- [HTMNet: A Hybrid Network with Transformer-Mamba Bottleneck Multimodal Fusion for Transparent and Reflective Objects Depth Completion](https://mlsanity.com/paper/2505.20904/) (2025)
- [S2ML: Spatio-Spectral Mutual Learning for Depth Completion](https://mlsanity.com/paper/2511.06033/) (2025)

## Abstract (arXiv)

Recently, stereo vision based on lightweight RGBD cameras has been widely used in various fields. However, limited by the imaging principles, the commonly used RGB-D cameras based on TOF, structured light, or binocular vision acquire some invalid data inevitably, such as weak reflection, boundary shadows, and artifacts, which may bring adverse impacts to the follow-up work. In this paper, we propose a new model for depth image completion based on the Attention Guided Gated-convolutional Network (AGG-Net), through which more accurate and reliable depth images can be obtained from the raw depth maps and the corresponding RGB images. Our model employs a UNet-like architecture which consists of two parallel branches of depth and color features. In the encoding stage, an Attention Guided Gated-Convolution (AG-GConv) module is proposed to realize the fusion of depth and color features at different scales, which can effectively reduce the negative impacts of invalid depth data on the reconstruction. In the decoding stage, an Attention Guided Skip Connection (AG-SC) module is presented to avoid introducing too many depth-irrelevant features to the reconstruction. The experimental results demonstrate that our method outperforms the state-of-the-art methods on the popular benchmarks NYU-Depth V2, DIML, and SUN RGB-D.