# Scene Prior Filtering for Depth Super-Resolution

arXiv: https://arxiv.org/abs/2402.13876 · HTML: https://mlsanity.com/paper/2402.13876/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 52 of its 103 references that are in the map.
- First posted on arXiv 21 Feb 2024.

## Builds on (most cited first, 30 of 52)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Image Super-Resolution Using Very Deep Residual Channel Attention Networks](https://mlsanity.com/paper/1807.02758/) (2018)
- [Faster Segment Anything: Towards Lightweight SAM for Mobile Applications](https://mlsanity.com/paper/2306.14289/) (2023)
- [Learning Texture Transformer Network for Image Super-Resolution](https://mlsanity.com/paper/2006.04139/) (2020)
- [Omnidata: A Scalable Pipeline for Making Multi-Task Mid-Level Vision Datasets from 3D Scans](https://mlsanity.com/paper/2110.04994/) (2021)
- [Non-Local Spatial Propagation Network for Depth Completion](https://mlsanity.com/paper/2007.10042/) (2020)
- [Drop an Octave: Reducing Spatial Redundancy in Convolutional Neural Networks with Octave Convolution](https://mlsanity.com/paper/1904.05049/) (2019)
- [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)
- [Pixel-Adaptive Convolutional Neural Networks](https://mlsanity.com/paper/1904.05373/) (2019)
- [Learning Guided Convolutional Network for Depth Completion](https://mlsanity.com/paper/1908.01238/) (2019)
- [Depth Completion from Sparse LiDAR Data with Depth-Normal Constraints](https://mlsanity.com/paper/1910.06727/) (2019)
- [Blind Face Restoration via Deep Multi-scale Component Dictionaries](https://mlsanity.com/paper/2008.00418/) (2020)
- [Lite-Mono: A Lightweight CNN and Transformer Architecture for Self-Supervised Monocular Depth Estimation](https://mlsanity.com/paper/2211.13202/) (2022)
- [CompletionFormer: Depth Completion with Convolutions and Vision Transformers](https://mlsanity.com/paper/2304.13030/) (2023)
- [SegStereo: Exploiting Semantic Information for Disparity Estimation](https://mlsanity.com/paper/1807.11699/) (2018)
- [MASA-SR: Matching Acceleration and Spatial Adaptation for Reference-Based Image Super-Resolution](https://mlsanity.com/paper/2106.02299/) (2021)
- [RigNet: Repetitive Image Guided Network for Depth Completion](https://mlsanity.com/paper/2107.13802/) (2021)
- [Sparse and noisy LiDAR completion with RGB guidance and uncertainty](https://mlsanity.com/paper/1902.05356/) (2019)
- [Deep Convolutional Neural Network for Multi-modal Image Restoration and Fusion](https://mlsanity.com/paper/1910.04066/) (2019)
- [Discrete Cosine Transform Network for Guided Depth Map Super-Resolution](https://mlsanity.com/paper/2104.06977/) (2021)
- [SNE-RoadSeg: Incorporating Surface Normal Information into Semantic Segmentation for Accurate Freespace Detection](https://mlsanity.com/paper/2008.11351/) (2020)
- [Towards Fast and Accurate Real-World Depth Super-Resolution: Benchmark Dataset and Baseline](https://mlsanity.com/paper/2104.06174/) (2021)
- [Deformable Kernel Networks for Joint Image Filtering](https://mlsanity.com/paper/1910.08373/) (2019)
- [Learning Semantic-Aware Knowledge Guidance for Low-Light Image Enhancement](https://mlsanity.com/paper/2304.07039/) (2023)
- [Fine-grained Semantics-aware Representation Enhancement for Self-supervised Monocular Depth Estimation](https://mlsanity.com/paper/2108.08829/) (2021)
- [A Multi-Scale and Multi-Depth Convolutional Neural Network for Remote Sensing Imagery Pan-Sharpening](https://mlsanity.com/paper/1712.09809/) (2017)
- [Decoupled Dynamic Filter Networks](https://mlsanity.com/paper/2104.14107/) (2021)

## Built on by (most cited first, 5 of 5)

- [DuCos: Duality Constrained Depth Super-Resolution via Foundation Model](https://mlsanity.com/paper/2503.04171/) (2025)
- [Multi-Order Matching Network for Alignment-Free Depth Super-Resolution](https://mlsanity.com/paper/2511.16361/) (2025)
- [NAIMA: Semantics Aware RGB Guided Depth Super-Resolution](https://mlsanity.com/paper/2604.04407/) (2026)
- [WAVE: Reversing the Guidance Hierarchy for Coarse-to-Fine Guided Depth Super-Resolution](https://mlsanity.com/paper/2608.25302/) (2026)
- [FoundDSR: A Generalizable Foundation Model with Guided 2D Gaussian Splatting for Depth Super-Resolution](https://mlsanity.com/paper/2609.32323/) (2026)

## Abstract (arXiv)

Multi-modal fusion serves as a cornerstone for successful depth map super-resolution. However, commonly used fusion strategies, such as addition and concatenation, fall short of effectively bridging the modal gap. As a result, guided image filtering methods have been introduced to mitigate this issue. Nevertheless, it is observed that their filter kernels usually encounter significant texture interference and edge inaccuracy. To tackle these two challenges, we introduce a Scene Prior Filtering network, SPFNet, which utilizes the priors' surface normal and semantic map from large-scale models. Specifically, we propose an All-in-one Prior Propagation that computes similarity between multi-modal scene priors, i.e., RGB, normal, semantic, and depth, to reduce the texture interference. Besides, we design a One-to-one Prior Embedding that continuously embeds every single modal prior into depth using Mutual Guided Filtering, further alleviating texture interference while enhancing edge representations. Our SPFNet has been extensively evaluated on both real-world and synthetic datasets, achieving state-of-the-art performance.