# JustDepth: Real-Time Radar-Camera Depth Estimation with Single-Scan LiDAR Supervision

arXiv: https://arxiv.org/abs/2607.22172 · HTML: https://mlsanity.com/paper/2607.22172/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 23 of its 26 references that are in the map.
- First posted on arXiv 24 Jul 2026.

## Builds on (most cited first, 23 of 23)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [DeepGCNs: Can GCNs Go as Deep as CNNs?](https://mlsanity.com/paper/1904.03751/) (2019)
- [Depth Pro: Sharp Monocular Metric Depth in Less Than a Second](https://mlsanity.com/paper/2410.02073/) (2024)
- [UniDepth: Universal Monocular Metric Depth Estimation](https://mlsanity.com/paper/2403.18913/) (2024)
- [Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Image](https://mlsanity.com/paper/2307.10984/) (2023)
- [Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation](https://mlsanity.com/paper/2312.02145/) (2023)
- [Vision GNN: An Image is Worth Graph of Nodes](https://mlsanity.com/paper/2206.00272/) (2022)
- [Radar-Camera Pixel Depth Association for Depth Completion](https://mlsanity.com/paper/2106.02778/) (2021)
- [Depth Estimation from Monocular Images and Sparse Radar Data](https://mlsanity.com/paper/2010.00058/) (2020)
- [R4Dyn: Exploring Radar for Self-Supervised Monocular Depth Estimation of Dynamic Scenes](https://mlsanity.com/paper/2108.04814/) (2021)
- [Depth Estimation from Monocular Images and Sparse radar using Deep Ordinal Regression Network](https://mlsanity.com/paper/2107.07596/) (2021)
- [RadarCam-Depth: Radar-Camera Fusion for Depth Estimation with Learned Metric Scale](https://mlsanity.com/paper/2401.04325/) (2024)
- [Sparse Beats Dense: Rethinking Supervision in Radar-Camera Depth Completion](https://mlsanity.com/paper/2312.00844/) (2023)
- [CaFNet: A Confidence-Driven Framework for Radar Camera Depth Estimation](https://mlsanity.com/paper/2407.00697/) (2024)
- [TacoDepth: Towards Efficient Radar-Camera Depth Estimation with One-stage Fusion](https://mlsanity.com/paper/2504.11773/) (2025)
- [RCDPT: Radar-Camera fusion Dense Prediction Transformer](https://mlsanity.com/paper/2211.02432/) (2022)
- [GET-UP: GEomeTric-aware Depth Estimation with Radar Points UPsampling](https://mlsanity.com/paper/2409.02720/) (2024)
- [LiRCDepth: Lightweight Radar-Camera Depth Estimation via Knowledge Distillation and Uncertainty Guidance](https://mlsanity.com/paper/2412.16380/) (2024)

## Built on by (most cited first, 2 of 2)

- [RbFT-Net: Rectify-Before-Fuse Temporal Radar Anchors for 4D Radar-Camera Depth Completion](https://mlsanity.com/paper/2608.13102/) (2026)
- [Image Frame Dynamic Object Segmentation and Ego Motion Estimation using Radar Image Fusion](https://mlsanity.com/paper/2609.22857/) (2026)

## Abstract (arXiv)

Accurate yet low-latency depth is essential for radar-camera perception in autonomous systems. Cameras provide rich appearance but lack metric scale, whereas automotive radar offers metric range but is sparse and noisy. Many pipelines are multi-stage or depend on auxiliary annotations, increasing latency and limiting portability. We introduce JustDepth, a single-stage radar-camera depth estimator trained only with radar, camera, and single-scan LiDAR. All radar returns are aggregated into a fixed-width 1D representation, decoupling runtime from point count. A Height Fusion Block fuses modalities, a lightweight GNN propagates depth globally, and a training-only confidence decoder stabilizes learning with zero test-time cost. We mitigate stripe artifacts via simple augmentations and quantify them using the Vertical-Horizontal Gradient Ratio (VHGR). On nuScenes, compared to recent state-of-the-art methods, JustDepth maintains accuracy while reducing inference time by 39.7x and stripe artifacts by 66% as measured by VHGR.