# A Two-Stage Masked Autoencoder Based Network for Indoor Depth Completion

arXiv: https://arxiv.org/abs/2406.09792 · HTML: https://mlsanity.com/paper/2406.09792/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 14 of its 37 references that are in the map.
- First posted on arXiv 14 Jun 2024.

## Builds on (most cited first, 14 of 14)

- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Image](https://mlsanity.com/paper/1709.07492/) (2017)
- [Self-supervised Sparse-to-Dense: Self-supervised Depth Completion from LiDAR and Monocular Camera](https://mlsanity.com/paper/1807.00275/) (2018)
- [Learning Depth with Convolutional Spatial Propagation Network](https://mlsanity.com/paper/1810.02695/) (2018)
- [Deep Depth Completion of a Single RGB-D Image](https://mlsanity.com/paper/1803.09326/) (2018)
- [In Defense of Classical Image Processing: Fast Depth Completion on the CPU](https://mlsanity.com/paper/1802.00036/) (2018)
- [Deep Depth Completion from Extremely Sparse Data: A Survey](https://mlsanity.com/paper/2205.05335/) (2022)
- [HMS-Net: Hierarchical Multi-scale Sparsity-invariant Network for Sparse Depth Completion](https://mlsanity.com/paper/1808.08685/) (2018)
- [Indoor Depth Completion with Boundary Consistency and Self-Attention](https://mlsanity.com/paper/1908.08344/) (2019)
- [Depth Completion via Deep Basis Fitting](https://mlsanity.com/paper/1912.10336/) (2019)
- [DenseLiDAR: A Real-Time Pseudo Dense Depth Guided Depth Completion Network](https://mlsanity.com/paper/2108.12655/) (2021)
- [Struct-MDC: Mesh-Refined Unsupervised Depth Completion Leveraging Structural Regularities from Visual SLAM](https://mlsanity.com/paper/2204.13877/) (2022)

## Built on by (most cited first, 1 of 1)

- [Self-Supervised Learning for Transparent Object Depth Completion Using Depth from Non-Transparent Objects](https://mlsanity.com/paper/2512.05006/) (2025)

## Abstract (arXiv)

Depth images have a wide range of applications, such as 3D reconstruction, autonomous driving, augmented reality, robot navigation, and scene understanding. Commodity-grade depth cameras are hard to sense depth for bright, glossy, transparent, and distant surfaces. Although existing depth completion methods have achieved remarkable progress, their performance is limited when applied to complex indoor scenarios. To address these problems, we propose a two-step Transformer-based network for indoor depth completion. Unlike existing depth completion approaches, we adopt a self-supervision pre-training encoder based on the masked autoencoder to learn an effective latent representation for the missing depth value; then we propose a decoder based on a token fusion mechanism to complete (i.e., reconstruct) the full depth from the jointly RGB and incomplete depth image. Compared to the existing methods, our proposed network, achieves the state-of-the-art performance on the Matterport3D dataset. In addition, to validate the importance of the depth completion task, we apply our methods to indoor 3D reconstruction. The code, dataset, and demo are available at https://github.com/kailaisun/Indoor-Depth-Completion.