# SVDC: Consistent Direct Time-of-Flight Video Depth Completion with Frequency Selective Fusion

arXiv: https://arxiv.org/abs/2503.01257 · HTML: https://mlsanity.com/paper/2503.01257/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 37 of its 50 references that are in the map.
- First posted on arXiv 3 Mar 2025.

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

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [CBAM: Convolutional Block Attention Module](https://mlsanity.com/paper/1807.06521/) (2018)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [Deformable Convolutional Networks](https://mlsanity.com/paper/1703.06211/) (2017)
- [Convolutional LSTM Network: A Machine Learning Approach for Precipitation Nowcasting](https://mlsanity.com/paper/1506.04214/) (2015)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [AdaBins: Depth Estimation using Adaptive Bins](https://mlsanity.com/paper/2011.14141/) (2020)
- [TartanAir: A Dataset to Push the Limits of Visual SLAM](https://mlsanity.com/paper/2003.14338/) (2020)
- [Optical Flow Estimation using a Spatial Pyramid Network](https://mlsanity.com/paper/1611.00850/) (2016)
- [BasicVSR++: Improving Video Super-Resolution with Enhanced Propagation and Alignment](https://mlsanity.com/paper/2104.13371/) (2021)
- [GMFlow: Learning Optical Flow via Global Matching](https://mlsanity.com/paper/2111.13680/) (2021)
- [Consistent Video Depth Estimation](https://mlsanity.com/paper/2004.15021/) (2020)
- [Non-Local Spatial Propagation Network for Depth Completion](https://mlsanity.com/paper/2007.10042/) (2020)
- [Robust Consistent Video Depth Estimation](https://mlsanity.com/paper/2012.05901/) (2020)
- [DynamicStereo: Consistent Dynamic Depth from Stereo Videos](https://mlsanity.com/paper/2305.02296/) (2023)
- [PENet: Towards Precise and Efficient Image Guided Depth Completion](https://mlsanity.com/paper/2103.00783/) (2021)
- [CSPN++: Learning Context and Resource Aware Convolutional Spatial Propagation Networks for Depth Completion](https://mlsanity.com/paper/1911.05377/) (2019)
- [Selective-Stereo: Adaptive Frequency Information Selection for Stereo Matching](https://mlsanity.com/paper/2403.00486/) (2024)
- [CompletionFormer: Depth Completion with Convolutions and Vision Transformers](https://mlsanity.com/paper/2304.13030/) (2023)
- [Exploiting temporal consistency for real-time video depth estimation](https://mlsanity.com/paper/1908.03706/) (2019)
- [Towards Fast and Accurate Real-World Depth Super-Resolution: Benchmark Dataset and Baseline](https://mlsanity.com/paper/2104.06174/) (2021)
- [Unsupervised Depth Completion with Calibrated Backprojection Layers](https://mlsanity.com/paper/2108.10531/) (2021)
- [Bilateral Propagation Network for Depth Completion](https://mlsanity.com/paper/2403.11270/) (2024)
- [Consistent Depth of Moving Objects in Video](https://mlsanity.com/paper/2108.01166/) (2021)
- [LRRU: Long-short Range Recurrent Updating Networks for Depth Completion](https://mlsanity.com/paper/2310.08956/) (2023)
- [Guided Depth Super-Resolution by Deep Anisotropic Diffusion](https://mlsanity.com/paper/2211.11592/) (2022)
- [Less is More: Consistent Video Depth Estimation with Masked Frames Modeling](https://mlsanity.com/paper/2208.00380/) (2022)
- [Adaptive Fusion of Single-View and Multi-View Depth for Autonomous Driving](https://mlsanity.com/paper/2403.07535/) (2024)
- [A megapixel time-gated SPAD image sensor for 2D and 3D imaging applications](https://mlsanity.com/paper/1912.12910/) (2019)

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

- [BANet: Bilateral Aggregation Network for Mobile Stereo Matching](https://mlsanity.com/paper/2503.03259/) (2025)
- [SpatioTemporal Difference Network for Video Depth Super-Resolution](https://mlsanity.com/paper/2508.01259/) (2025)
- [DEPTHOR++: Robust Depth Enhancement from a Real-World Lightweight dToF and RGB Guidance](https://mlsanity.com/paper/2509.26498/) (2025)
- [Depth-to-Image Synthesis-Driven Generative Unguided Depth Completion](https://mlsanity.com/paper/2609.06007/) (2026)

## Abstract (arXiv)

Lightweight direct Time-of-Flight (dToF) sensors are ideal for 3D sensing on mobile devices. However, due to the manufacturing constraints of compact devices and the inherent physical principles of imaging, dToF depth maps are sparse and noisy. In this paper, we propose a novel video depth completion method, called SVDC, by fusing the sparse dToF data with the corresponding RGB guidance. Our method employs a multi-frame fusion scheme to mitigate the spatial ambiguity resulting from the sparse dToF imaging. Misalignment between consecutive frames during multi-frame fusion could cause blending between object edges and the background, which results in a loss of detail. To address this, we introduce an adaptive frequency selective fusion (AFSF) module, which automatically selects convolution kernel sizes to fuse multi-frame features. Our AFSF utilizes a channel-spatial enhancement attention (CSEA) module to enhance features and generates an attention map as fusion weights. The AFSF ensures edge detail recovery while suppressing high-frequency noise in smooth regions. To further enhance temporal consistency, We propose a cross-window consistency loss to ensure consistent predictions across different windows, effectively reducing flickering. Our proposed SVDC achieves optimal accuracy and consistency on the TartanAir and Dynamic Replica datasets. Code is available at https://github.com/Lan1eve/SVDC.