# CFPNet: Improving Lightweight ToF Depth Completion via Cross-zone Feature Propagation

arXiv: https://arxiv.org/abs/2411.04480 · HTML: https://mlsanity.com/paper/2411.04480/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 37 of its 46 references that are in the map.
- First posted on arXiv 7 Nov 2024.

## Builds on (most cited first, 30 of 37)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Densely Connected Convolutional Networks](https://mlsanity.com/paper/1608.06993/) (2016)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [Layer Normalization](https://mlsanity.com/paper/1607.06450/) (2016)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [A ConvNet for the 2020s](https://mlsanity.com/paper/2201.03545/) (2022)
- [Gaussian Error Linear Units (GELUs)](https://mlsanity.com/paper/1606.08415/) (2016)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [Transformers are RNNs: Fast Autoregressive Transformers with Linear Attention](https://mlsanity.com/paper/2006.16236/) (2020)
- [Restormer: Efficient Transformer for High-Resolution Image Restoration](https://mlsanity.com/paper/2111.09881/) (2021)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [CvT: Introducing Convolutions to Vision Transformers](https://mlsanity.com/paper/2103.15808/) (2021)
- [AdaBins: Depth Estimation using Adaptive Bins](https://mlsanity.com/paper/2011.14141/) (2020)
- [Understanding the Effective Receptive Field in Deep Convolutional Neural Networks](https://mlsanity.com/paper/1701.04128/) (2017)
- [From Big to Small: Multi-Scale Local Planar Guidance for Monocular Depth Estimation](https://mlsanity.com/paper/1907.10326/) (2019)
- [Attention Augmented Convolutional Networks](https://mlsanity.com/paper/1904.09925/) (2019)
- [Sparsity Invariant CNNs](https://mlsanity.com/paper/1708.06500/) (2017)
- [CMT: Convolutional Neural Networks Meet Vision Transformers](https://mlsanity.com/paper/2107.06263/) (2021)
- [Large Kernel Matters -- Improve Semantic Segmentation by Global Convolutional Network](https://mlsanity.com/paper/1703.02719/) (2017)
- [Non-Local Spatial Propagation Network for Depth Completion](https://mlsanity.com/paper/2007.10042/) (2020)
- [PENet: Towards Precise and Efficient Image Guided Depth Completion](https://mlsanity.com/paper/2103.00783/) (2021)
- [Learning Depth with Convolutional Spatial Propagation Network](https://mlsanity.com/paper/1810.02695/) (2018)
- [CSPN++: Learning Context and Resource Aware Convolutional Spatial Propagation Networks for Depth Completion](https://mlsanity.com/paper/1911.05377/) (2019)
- [CompletionFormer: Depth Completion with Convolutions and Vision Transformers](https://mlsanity.com/paper/2304.13030/) (2023)
- [T"oRF: Time-of-Flight Radiance Fields for Dynamic Scene View Synthesis](https://mlsanity.com/paper/2109.15271/) (2021)
- [Towards Fast and Accurate Real-World Depth Super-Resolution: Benchmark Dataset and Baseline](https://mlsanity.com/paper/2104.06174/) (2021)
- [Deep Depth Completion from Extremely Sparse Data: A Survey](https://mlsanity.com/paper/2205.05335/) (2022)

## Built on by (most cited first, 4 of 4)

- [DEPTHOR: Depth Enhancement from a Practical Light-Weight dToF Sensor and RGB Image](https://mlsanity.com/paper/2504.01596/) (2025)
- [ECMNet:Lightweight Semantic Segmentation with Efficient CNN-Mamba Network](https://mlsanity.com/paper/2506.08629/) (2025)
- [DEPTHOR++: Robust Depth Enhancement from a Real-World Lightweight dToF and RGB Guidance](https://mlsanity.com/paper/2509.26498/) (2025)
- [On-Device Super Resolution Imaging Using Low-Cost SPAD Array and Embedded Lightweight Deep Learning](https://mlsanity.com/paper/2603.27018/) (2026)

## Abstract (arXiv)

Depth completion using lightweight time-of-flight (ToF) depth sensors is attractive due to their low cost. However, lightweight ToF sensors usually have a limited field of view (FOV) compared with cameras. Thus, only pixels in the zone area of the image can be associated with depth signals. Previous methods fail to propagate depth features from the zone area to the outside-zone area effectively, thus suffering from degraded depth completion performance outside the zone. To this end, this paper proposes the CFPNet to achieve cross-zone feature propagation from the zone area to the outside-zone area with two novel modules. The first is a direct-attention-based propagation module (DAPM), which enforces direct cross-zone feature acquisition. The second is a large-kernel-based propagation module (LKPM), which realizes cross-zone feature propagation by utilizing convolution layers with kernel sizes up to 31. CFPNet achieves state-of-the-art (SOTA) depth completion performance by combining these two modules properly, as verified by extensive experimental results on the ZJU-L5 dataset. The code is available at https://github.com/denyingmxd/CFPNet.