# NeRFmentation: NeRF-based Augmentation for Monocular Depth Estimation

arXiv: https://arxiv.org/abs/2401.03771 · HTML: https://mlsanity.com/paper/2401.03771/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 35 of its 55 references that are in the map.
- First posted on arXiv 8 Jan 2024.

## Builds on (most cited first, 30 of 35)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fields](https://mlsanity.com/paper/2103.13415/) (2021)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [Accurate, Large Minibatch SGD: Training ImageNet in 1 Hour](https://mlsanity.com/paper/1706.02677/) (2017)
- [D-NeRF: Neural Radiance Fields for Dynamic Scenes](https://mlsanity.com/paper/2011.13961/) (2020)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [BEIR: A Heterogenous Benchmark for Zero-shot Evaluation of Information Retrieval Models](https://mlsanity.com/paper/2104.08663/) (2021)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [Playing for Data: Ground Truth from Computer Games](https://mlsanity.com/paper/1608.02192/) (2016)
- [Depth-supervised NeRF: Fewer Views and Faster Training for Free](https://mlsanity.com/paper/2107.02791/) (2021)
- [Deep Ordinal Regression Network for Monocular Depth Estimation](https://mlsanity.com/paper/1806.02446/) (2018)
- [AdaBins: Depth Estimation using Adaptive Bins](https://mlsanity.com/paper/2011.14141/) (2020)
- [Nerfstudio: A Modular Framework for Neural Radiance Field Development](https://mlsanity.com/paper/2302.04264/) (2023)
- [FDA: Fourier Domain Adaptation for Semantic Segmentation](https://mlsanity.com/paper/2004.05498/) (2020)
- [Zero-Shot Learning -- A Comprehensive Evaluation of the Good, the Bad and the Ugly](https://mlsanity.com/paper/1707.00600/) (2017)
- [Label-Efficient Semantic Segmentation with Diffusion Models](https://mlsanity.com/paper/2112.03126/) (2021)
- [Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Image](https://mlsanity.com/paper/2307.10984/) (2023)
- [Synthetic Data from Diffusion Models Improves ImageNet Classification](https://mlsanity.com/paper/2304.08466/) (2023)
- [Benchmarking Zero-shot Text Classification: Datasets, Evaluation and Entailment Approach](https://mlsanity.com/paper/1909.00161/) (2019)
- [BinsFormer: Revisiting Adaptive Bins for Monocular Depth Estimation](https://mlsanity.com/paper/2204.00987/) (2022)
- [DepthFormer: Exploiting Long-Range Correlation and Local Information for Accurate Monocular Depth Estimation](https://mlsanity.com/paper/2203.14211/) (2022)
- [Towards Zero-Shot Scale-Aware Monocular Depth Estimation](https://mlsanity.com/paper/2306.17253/) (2023)
- [Map-Guided Curriculum Domain Adaptation and Uncertainty-Aware Evaluation for Semantic Nighttime Image Segmentation](https://mlsanity.com/paper/2005.14553/) (2020)
- [How do neural networks see depth in single images?](https://mlsanity.com/paper/1905.07005/) (2019)
- [This dataset does not exist: training models from generated images](https://mlsanity.com/paper/1911.02888/) (2019)
- [Temporal Interpolation Is All You Need for Dynamic Neural Radiance Fields](https://mlsanity.com/paper/2302.09311/) (2023)

## Built on by (most cited first, 2 of 2)

- [UGNA-VPR: A Novel Training Paradigm for Visual Place Recognition Based on Uncertainty-Guided NeRF Augmentation](https://mlsanity.com/paper/2503.21338/) (2025)
- [FrozenDrive: Zero-Shot Text-Guided Driving Scene Generation and Data Augmentation with Parameter-Free Frozen Diffusion Model](https://mlsanity.com/paper/2606.20110/) (2026)

## Abstract (arXiv)

The capabilities of monocular depth estimation (MDE) models are limited by the availability of sufficient and diverse datasets. In the case of MDE models for autonomous driving, this issue is exacerbated by the linearity of the captured data trajectories. We propose a NeRF-based data augmentation pipeline to introduce synthetic data with more diverse viewing directions into training datasets and demonstrate the benefits of our approach to model performance and robustness. Our data augmentation pipeline, which we call textitNeRFmentation, trains NeRFs on each scene in a dataset, filters out subpar NeRFs based on relevant metrics, and uses them to generate synthetic RGB-D images captured from new viewing directions. In this work, we apply our technique in conjunction with three state-of-the-art MDE architectures on the popular autonomous driving dataset, KITTI, augmenting its training set of the Eigen split. We evaluate the resulting performance gain on the original test set, a separate popular driving dataset, and our own synthetic test set.