Depth Completion

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Overview

Depth completion fills in missing depth values to produce dense scene geometry from sparse measurements such as LiDAR, time-of-flight sensors, or radar, often combined with camera images. Common approaches fuse image and depth features, propagate measurements with learned or geometric rules, or use transformer, diffusion, and pretrained depth models; test-time adaptation can further align predictions to a particular scene. Methods are evaluated on benchmarks such as KITTI and NYUv2, as well as in settings including robotics, adverse weather, and specialized cameras. A central challenge is balancing metric accuracy and fine structure with robustness to noisy or irregular inputs, new sensors and domains, and real-time constraints; sparse ground truth also limits evaluation.

Latest papers

CardsList

27 papers4 papers in the last four weeks, up 33% on the four weeks before. 0.0% of all new papers.

  1. WildDepth-v2: A Synchronized RGB--LiDAR--Radar Dataset and Benchmark for Metric Depth, Motion, and Tracking of Wildlife

    Oct 22, 2026Muhammad Aamir, Sangyun Shin, Naoya Muramatsu +4Metric Depth EstimationWildlife Monitoring

    Department of Computer Science, University of Oxford, Oxford, UK · University of Cape Town, Cape Town, South Africa · Wildlife Conservation Research Unit, Department of Biology, University of Oxford, UK +1

  2. The Midas Touch for Metric Depth: Interpretable Metricization for Generalizable Depth Perception

    Oct 12, 2026Mengtan Zhang, Yu Ma, Shiqi Jiang +6Metric Depth EstimationMonocular Depth Estimation

    Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai 201210, P. R. China · College of Electronic & Information Engineering, Tongji University, Shanghai 201804, P. R. China · Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong SAR, P. R. China +2

  3. LiDAR Resolution Recovery via Foundation-Model-Guided Diffusion

    Oct 6, 2026Samed Doğan, Nico Leuze, Alfred SchöttlDiffusion Model GuidanceDepth Completion

    Dept. of Electrical Engineering and Information Technology Munich University of Applied Sciences, 80335 Munich, Germany

  4. Boosting Metric Depth Completion via Training-Free Adaptive Response Geometry

    Sep 28, 2026Mia Zhang, Jizong PengPost-Hoc CalibrationDepth Completion

    dConstruct Robotics · University of Waterloo

  5. FounRef: Robust, Structure-Preserving, and Fast Metric Refinement of Frozen Monocular Foundation Priors with Sparse Anchors

    Sep 24, 2026Dan Halperin, Mirko MählischMetric Depth EstimationDepth Completion

    University of the Bundeswehr Munich, Germany

  6. Depth-to-Image Synthesis-Driven Generative Unguided Depth Completion

    Sep 5, 2026Jiayi Yuan, Na Zhao, De Wen SohDepth Completion

    Singapore University of Technology and Design

  7. SG-AMP: Scene-Graph-Guided Active Perception and Semantics-Aware Motion Planning for Pepper Plants

    Sep 1, 2026Rohit Menon, Shiva Rudra Lolla, Niklas Mueller-Goldingen +3Depth CompletionAgricultural Robotics

    Humanoid Robots Lab, University of Bonn, Germany · Center for Robotics, Bonn, Germany · Institute of Geodesy and Geoinformation, University of Bonn +1

  8. RbFT-Net: Rectify-Before-Fuse Temporal Radar Anchors for 4D Radar-Camera Depth Completion

    Aug 13, 2026Wentao Zhao, Shouxuan Wu, Yongtao Cen +3Camera-Radar FusionMetric Depth Estimation

    School of Automation and Intelligent Sensing, Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China · School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China · 3State Key Laboratory of Advanced Rail Autonomous Operation and School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing 100044, China

  9. Dense Metric Depth Completion from Sparse Direct Time-of-Flight Sensors

    Aug 5, 2026Hakyeong Kim, Ruicheng Wang, Chengtang Yao +2Metric Depth EstimationDepth Estimation

    KAIST · USTC · Microsoft Research Asia

  10. AISPO: Enhancing Depth Reliability for Robotic Manipulation of Non-Lambertian Objects via Affine-Invariant Shape Prior

    Jun 24, 2026Zhiming Chen, Linfang Zheng, Kun Zhang +4Depth CompletionRobotic Manipulation

    The Hong Kong University of Science & Technology · LimX Dynamics · The University of Hong Kong +2

  11. ShotcreteDepth: A Bi-modal Dataset for Robust Robotic Depth Perception in Shotcrete Construction Environments

    Jun 22, 2026Jakub Gregorek, Lars Arnold Dethlefsen, Patrick Schmidt +3Robotic ConstructionDepth Estimation

    1Technical University of Denmark, Department of Electrical and Photonics Engineering. · 2Pioneer Centre for AI, Copenhagen, Denmark. · 3Christiansen & Essenbæk A/S.

  12. Honey, I Shrunk the Arc de Triomphe!

    Jun 1, 2026Yuanbo Xiangli, Hanyu Chen, Xueqing Tsang +13D Foundation ModelsMetric Depth Estimation

    Cornell University · Shanghai Jiao Tong University

  13. Large Depth Completion Model from Sparse Observations

    May 28, 2026Zhu Yu, Zhengyi Zhao, Runmin Zhang +7Metric Depth EstimationDepth Estimation

    Zhejiang University · Internship at Tongyi Lab · Tongyi Lab, Alibaba Group +4

  14. WideDepth: Millimeter-Accurate Benchmark for Fisheye Depth Estimation

    May 22, 2026Ilia Indyk, Ignat Penshin, Ivan Sosin +3Metric Depth EstimationDepth Estimation

    Robotics Center, Moscow, Russia · AXXX, Moscow, Russia · Trusted AI Research Center, RAS, Moscow, Russia

  15. CARD: A Multi-Modal Automotive Dataset for Dense 3D Reconstruction in Challenging Road Topography

    May 6, 2026Gasser Elazab, Frank Neuhaus, Tilman Koß +5Autonomous Driving DatasetsAutonomous Driving Benchmarks

    1CARIAD SE · 2Technische Universität Berlin · 3Vision & Robotics GmbH

  16. EfficientPENet: Real-Time Depth Completion from Sparse LiDAR via Lightweight Multi-Modal Fusion

    Apr 20, 2026Johny J. Lopez, Md Meftahul Ferdaus, Mahdi Abdelguerfi +4Efficient Neural Network InferenceDepth Estimation

    Canizaro Livingston Gulf States Center for Environmental Informatics, the University of New Orleans, New Orleans, USA · US Army Corps of Engineers, Engineer Research and Development Center, Vicksburg, Mississippi, USA

  17. Fringe Projection Based Vision Pipeline for Autonomous Hard Drive Disassembly

    Apr 19, 2026Badrinath Balasubramaniam, Vignesh Suresh, Benjamin Metcalf +1Fringe Projection Profilometry3D Reconstruction

    School of Electrical and Computer Engineering, University of Georgia, Athens, 30605, GA, USA · Alcon Research Laboratories, Fort Worth, 76134, Texas, USA · University of Georgia, Athens, 30605, GA, USA +1

  18. Bootstrap Perception Under Hardware Depth Failure for Indoor Robot Navigation

    Mar 30, 2026Nishant Pushparaju, Vivek Mattam, Aliasghar ArabIndoor Robot NavigationRobot Navigation

  19. ToFormer: Towards Large-scale Scenario Depth Completion for Lightweight ToF Camera

    Mar 21, 2026Juncheng Chen, Tiancheng Lai, Xingpeng Wang +4Depth CompletionDepth Estimation

    State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China. · Huzhou Institute of Zhejiang University, Huzhou, China. · The Chinese University of Hong Kong, Shenzhen, China.

  20. AURORA-KITTI: Any-Weather Depth Completion and Denoising

    Mar 16, 2026Yiting Wang, Tim Brödermann, Hamed Haghighi +4Depth CompletionMultimodal Robustness

    Warwick Manufacturing Group, University of Warwick, Coventry, CV4 7AL, United Kingdom · School of Engineering and Materials Science, Queen Mary University of London, London, E1 4NS, United Kingdom · Computer Vision Laboratory, ETH Zürich, Zurich, 8057, Switzerland +1

  21. Need for Speed: Zero-Shot Depth Completion with Single-Step Diffusion

    Mar 11, 2026Jakub Gregorek, Paraskevas Pegios, Nando Metzger +3Depth CompletionDiffusion Models

    DTU - Technical University of Denmark · Pioneer Centre for AI · ETH Zürich

  22. Any to Full: Prompting Depth Anything for Depth Completion in One Stage

    Mar 5, 2026Zhiyuan Zhou, Ruofeng Liu, Taichi Liu +4Depth CompletionPrompt Tuning

    Rutgers University, USA · Michigan State University, USA · JD Logistics, China +1

  23. StreamTTO: Efficient Online Test-Time Optimization for Video Depth Completion

    Mar 2, 2026Minseok Seo, Wonjun Lee, Jaehyuk Jang +1Depth EstimationDepth Completion

    Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea

  24. EndoDDC: Learning Sparse to Dense Reconstruction for Endoscopic Robotic Navigation via Diffusion Depth Completion

    Feb 25, 2026Yinheng Lin, Yiming Huang, Beilei Cui +4Depth EstimationDepth Completion

    All authors are with the Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China.

  25. Depth Completion as Parameter-Efficient Test-Time Adaptation

    Feb 16, 2026Bingxin Ke, Qunjie Zhou, Jiahui Huang +5Depth CompletionTest-Time Adaptation

    NVIDIA · ETH Zürich

  26. MetricAnything: Scaling Metric Depth Pretraining with Noisy Heterogeneous Sources

    Jan 29, 2026Baorui Ma, Jiahui Yang, Donglin Di +5Vision Foundation ModelsMetric Depth Estimation

    Li Auto Inc

  27. Gaussian Belief Propagation Network for Depth Completion

    Jan 29, 2026Jie Tang, Pingping Xie, Jian Li +1Markov Random FieldsDepth Estimation

    National University of Defense Technology, Changsha, China · Hong Kong University of Science and Technology, Hong Kong, China