# Completion as Enhancement: A Degradation-Aware Selective Image Guided Network for Depth Completion

arXiv: https://arxiv.org/abs/2412.19225 · HTML: https://mlsanity.com/paper/2412.19225/

## Key facts

- Cited by 12 papers in the map (data through 14 Oct 2026).
- Builds on 48 of its 66 references that are in the map.
- First posted on arXiv 26 Dec 2024.

## Builds on (most cited first, 30 of 48)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [Image Super-Resolution Using Very Deep Residual Channel Attention Networks](https://mlsanity.com/paper/1807.02758/) (2018)
- [VMamba: Visual State Space Model](https://mlsanity.com/paper/2401.10166/) (2024)
- [Designing a Practical Degradation Model for Deep Blind Image Super-Resolution](https://mlsanity.com/paper/2103.14006/) (2021)
- [Sparsity Invariant CNNs](https://mlsanity.com/paper/1708.06500/) (2017)
- [Non-Local Spatial Propagation Network for Depth Completion](https://mlsanity.com/paper/2007.10042/) (2020)
- [Unsupervised Degradation Representation Learning for Blind Super-Resolution](https://mlsanity.com/paper/2104.00416/) (2021)
- [Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Image](https://mlsanity.com/paper/1709.07492/) (2017)
- [PENet: Towards Precise and Efficient Image Guided Depth Completion](https://mlsanity.com/paper/2103.00783/) (2021)
- [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)
- [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)
- [Learning Guided Convolutional Network for Depth Completion](https://mlsanity.com/paper/1908.01238/) (2019)
- [Depth Estimation via Affinity Learned with Convolutional Spatial Propagation Network](https://mlsanity.com/paper/1808.00150/) (2018)
- [CSPN++: Learning Context and Resource Aware Convolutional Spatial Propagation Networks for Depth Completion](https://mlsanity.com/paper/1911.05377/) (2019)
- [In Defense of Classical Image Processing: Fast Depth Completion on the CPU](https://mlsanity.com/paper/1802.00036/) (2018)
- [Efficient and Degradation-Adaptive Network for Real-World Image Super-Resolution](https://mlsanity.com/paper/2203.14216/) (2022)
- [CompletionFormer: Depth Completion with Convolutions and Vision Transformers](https://mlsanity.com/paper/2304.13030/) (2023)
- [RigNet: Repetitive Image Guided Network for Depth Completion](https://mlsanity.com/paper/2107.13802/) (2021)
- [Learning Affinity via Spatial Propagation Networks](https://mlsanity.com/paper/1710.01020/) (2017)
- [Sparse and noisy LiDAR completion with RGB guidance and uncertainty](https://mlsanity.com/paper/1902.05356/) (2019)
- [Sparse and Dense Data with CNNs: Depth Completion and Semantic Segmentation](https://mlsanity.com/paper/1808.00769/) (2018)
- [Learning Joint 2D-3D Representations for Depth Completion](https://mlsanity.com/paper/2012.12402/) (2020)
- [Dynamic Spatial Propagation Network for Depth Completion](https://mlsanity.com/paper/2202.09769/) (2022)
- [Bilateral Propagation Network for Depth Completion](https://mlsanity.com/paper/2403.11270/) (2024)
- [Dense Depth Posterior (DDP) from Single Image and Sparse Range](https://mlsanity.com/paper/1901.10034/) (2019)
- [Confidence Propagation through CNNs for Guided Sparse Depth Regression](https://mlsanity.com/paper/1811.01791/) (2018)
- [LRRU: Long-short Range Recurrent Updating Networks for Depth Completion](https://mlsanity.com/paper/2310.08956/) (2023)

## Built on by (most cited first, 12 of 12)

- [Jasmine: Harnessing Diffusion Prior for Self-supervised Depth Estimation](https://mlsanity.com/paper/2503.15905/) (2025)
- [DuCos: Duality Constrained Depth Super-Resolution via Foundation Model](https://mlsanity.com/paper/2503.04171/) (2025)
- [Event-Driven Dynamic Scene Depth Completion](https://mlsanity.com/paper/2505.13279/) (2025)
- [SpatioTemporal Difference Network for Video Depth Super-Resolution](https://mlsanity.com/paper/2508.01259/) (2025)
- [See through the Dark: Learning Illumination-affined Representations for Nighttime Occupancy Prediction](https://mlsanity.com/paper/2505.20641/) (2025)
- [AURORA-KITTI: Any-Weather Depth Completion and Denoising](https://mlsanity.com/paper/2603.14701/) (2026)
- [STD-GS: Exploring Frame-Event Interaction for SpatioTemporal-Disentangled Gaussian Splatting to Reconstruct High-Dynamic Scene](https://mlsanity.com/paper/2506.23157/) (2025)
- [DA-Occ: Direction-Aware 2D Convolution for Efficient and Geometry-Preserving 3D Occupancy Prediction in Autonomous Driving](https://mlsanity.com/paper/2507.23599/) (2025)
- [StarryGazer: Leveraging Monocular Depth Estimation Models for Domain-Agnostic Single Depth Image Completion](https://mlsanity.com/paper/2512.13147/) (2025)
- [MT-Depth: Multi-task Instance feature analysis for the Depth Completion](https://mlsanity.com/paper/2512.04734/) (2025)
- [Robust Depth Super-Resolution via Adaptive Diffusion Sampling](https://mlsanity.com/paper/2602.09510/) (2026)
- [DegBins: Degradation-Driven Binning for Depth Super-Resolution](https://mlsanity.com/paper/2605.09628/) (2026)

## Abstract (arXiv)

In this paper, we introduce the Selective Image Guided Network (SigNet), a novel degradation-aware framework that transforms depth completion into depth enhancement for the first time. Moving beyond direct completion using convolutional neural networks (CNNs), SigNet initially densifies sparse depth data through non-CNN densification tools to obtain coarse yet dense depth. This approach eliminates the mismatch and ambiguity caused by direct convolution over irregularly sampled sparse data. Subsequently, SigNet redefines completion as enhancement, establishing a self-supervised degradation bridge between the coarse depth and the targeted dense depth for effective RGB-D fusion. To achieve this, SigNet leverages the implicit degradation to adaptively select high-frequency components (e.g., edges) of RGB data to compensate for the coarse depth. This degradation is further integrated into a multi-modal conditional Mamba, dynamically generating the state parameters to enable efficient global high-frequency information interaction. We conduct extensive experiments on the NYUv2, DIML, SUN RGBD, and TOFDC datasets, demonstrating the state-of-the-art (SOTA) performance of SigNet.