# OASIS-DC: Generalizable Depth Completion via Output-level Alignment of Sparse-Integrated Monocular Pseudo Depth

arXiv: https://arxiv.org/abs/2602.01268 · HTML: https://mlsanity.com/paper/2602.01268/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 29 of its 40 references that are in the map.
- First posted on arXiv 1 Feb 2026.

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

- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [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)
- [Diffusion Posterior Sampling for General Noisy Inverse Problems](https://mlsanity.com/paper/2209.14687/) (2022)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [Poincar'e Embeddings for Learning Hierarchical Representations](https://mlsanity.com/paper/1705.08039/) (2017)
- [ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depth](https://mlsanity.com/paper/2302.12288/) (2023)
- [Universal Guidance for Diffusion Models](https://mlsanity.com/paper/2302.07121/) (2023)
- [Hyperbolic Neural Networks](https://mlsanity.com/paper/1805.09112/) (2018)
- [UniDepth: Universal Monocular Metric Depth Estimation](https://mlsanity.com/paper/2403.18913/) (2024)
- [Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation](https://mlsanity.com/paper/2312.02145/) (2023)
- [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)
- [Solving Inverse Problems with Latent Diffusion Models via Hard Data Consistency](https://mlsanity.com/paper/2307.08123/) (2023)
- [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)
- [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)
- [CompletionFormer: Depth Completion with Convolutions and Vision Transformers](https://mlsanity.com/paper/2304.13030/) (2023)
- [DepthFM: Fast Monocular Depth Estimation with Flow Matching](https://mlsanity.com/paper/2403.13788/) (2024)
- [Dynamic Spatial Propagation Network for Depth Completion](https://mlsanity.com/paper/2202.09769/) (2022)
- [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)
- [LRRU: Long-short Range Recurrent Updating Networks for Depth Completion](https://mlsanity.com/paper/2310.08956/) (2023)
- [Depth Prompting for Sensor-Agnostic Depth Estimation](https://mlsanity.com/paper/2405.11867/) (2024)
- [Revisiting Depth Completion from a Stereo Matching Perspective for Cross-domain Generalization](https://mlsanity.com/paper/2312.09254/) (2023)
- [Zero-shot Depth Completion via Test-time Alignment with Affine-invariant Depth Prior](https://mlsanity.com/paper/2502.06338/) (2025)

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

- [Boosting Metric Depth Completion via Training-Free Adaptive Response Geometry](https://mlsanity.com/paper/2609.36168/) (2026)

## Abstract (arXiv)

Recent monocular foundation models excel at zero-shot depth estimation, yet their outputs are inherently relative rather than metric, limiting direct use in robotics and autonomous driving. We leverage the fact that relative depth preserves global layout and boundaries: by calibrating it with sparse range measurements, we transform it into a pseudo metric depth prior. Building on this prior, we design a refinement network that follows the prior where reliable and deviates where necessary, enabling accurate metric predictions from very few labeled samples. The resulting system is particularly effective when curated validation data are unavailable, sustaining stable scale and sharp edges across few-shot regimes. These findings suggest that coupling foundation priors with sparse anchors is a practical route to robust, deployment-ready depth completion under real-world label scarcity.