# VistaDepth: Improving far-range Depth Estimation with Spectral Modulation and Adaptive Reweighting

arXiv: https://arxiv.org/abs/2504.15095 · HTML: https://mlsanity.com/paper/2504.15095/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 29 of its 43 references that are in the map.
- First posted on arXiv 21 Apr 2025.

## Builds on (most cited first, 29 of 29)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [Elucidating the Design Space of Diffusion-Based Generative Models](https://mlsanity.com/paper/2206.00364/) (2022)
- [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)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [On the Spectral Bias of Neural Networks](https://mlsanity.com/paper/1806.08734/) (2018)
- [LRM: Large Reconstruction Model for Single Image to 3D](https://mlsanity.com/paper/2311.04400/) (2023)
- [Latent Consistency Models: Synthesizing High-Resolution Images with Few-Step Inference](https://mlsanity.com/paper/2310.04378/) (2023)
- [Hypersim: A Photorealistic Synthetic Dataset for Holistic Indoor Scene Understanding](https://mlsanity.com/paper/2011.02523/) (2020)
- [Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimation](https://mlsanity.com/paper/2404.15506/) (2024)
- [Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Image](https://mlsanity.com/paper/2307.10984/) (2023)
- [Virtual KITTI 2](https://mlsanity.com/paper/2001.10773/) (2020)
- [Omnidata: A Scalable Pipeline for Making Multi-Task Mid-Level Vision Datasets from 3D Scans](https://mlsanity.com/paper/2110.04994/) (2021)
- [Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation](https://mlsanity.com/paper/2312.02145/) (2023)
- [MoGe: Unlocking Accurate Monocular Geometry Estimation for Open-Domain Images with Optimal Training Supervision](https://mlsanity.com/paper/2410.19115/) (2024)
- [GeoWizard: Unleashing the Diffusion Priors for 3D Geometry Estimation from a Single Image](https://mlsanity.com/paper/2403.12013/) (2024)
- [DIODE: A Dense Indoor and Outdoor DEpth Dataset](https://mlsanity.com/paper/1908.00463/) (2019)
- [Learning to Recover 3D Scene Shape from a Single Image](https://mlsanity.com/paper/2012.09365/) (2020)
- [Lotus: Diffusion-based Visual Foundation Model for High-quality Dense Prediction](https://mlsanity.com/paper/2409.18124/) (2024)
- [Fine-Tuning Image-Conditional Diffusion Models is Easier than You Think](https://mlsanity.com/paper/2409.11355/) (2024)
- [What Matters When Repurposing Diffusion Models for General Dense Perception Tasks?](https://mlsanity.com/paper/2403.06090/) (2024)
- [Multi-Modal 3D Object Detection in Autonomous Driving: a Survey](https://mlsanity.com/paper/2106.12735/) (2021)
- [DiffusionEdge: Diffusion Probabilistic Model for Crisp Edge Detection](https://mlsanity.com/paper/2401.02032/) (2024)
- [The Relative Importance of Depth Cues and Semantic Edges for Indoor Mobility Using Simulated Prosthetic Vision in Immersive Virtual Reality](https://mlsanity.com/paper/2208.05066/) (2022)

## Abstract (arXiv)

Monocular depth estimation (MDE) aims to infer per-pixel depth from a single RGB image. While diffusion models have advanced MDE with impressive generalization, they often exhibit limitations in accurately reconstructing far-range regions. This difficulty arises from two key challenges. First, the implicit multi-scale processing in standard spatial-domain models can be insufficient for preserving the fine-grained, high-frequency details crucial for distant structures. Second, the intrinsic long-tail distribution of depth data imposes a strong training bias towards more prevalent near-range regions. To address these, we propose VistaDepth, a novel diffusion framework designed for balanced and accurate depth perception. We introduce two key innovations. First, the Latent Frequency Modulation (LFM) module enhances the model's ability to represent high-frequency details. It operates by having a lightweight network predict a dynamic, content-aware spectral filter to refine latent features, thereby improving the reconstruction of distant structures. Second, our BiasMap mechanism introduces an adaptive reweighting of the diffusion loss strategically scaled across diffusion timesteps. It further aligns the supervision with the progressive denoising process, establishing a more consistent learning signal. As a result, it mitigates data bias without sacrificing training stability. Experiments show that VistaDepth achieves state-of-the-art performance for diffusion-based MDE, particularly excelling in reconstructing detailed and accurate depth in far-range regions.