# SemSegDepth: A Combined Model for Semantic Segmentation and Depth Completion Source: [SemSegDepth: A Combined Model for Semantic Segmentation and Depth Completion]() Collection index: [llms.txt]() Data updated: 2025-10-26T02:26:06.010Z Authors: Juan Pablo Lagos, Esa Rahtu Published: 2022-09-01T11:52:11.000Z ## Abstract Holistic scene understanding is pivotal for the performance of autonomous machines. In this paper we propose a new end-to-end model for performing semantic segmentation and depth completion jointly. The vast majority of recent approaches have developed semantic segmentation and depth completion as independent tasks. Our approach relies on RGB and sparse depth as inputs to our model and produces a dense depth map and the corresponding semantic segmentation image. It consists of a feature extractor, a depth completion branch, a semantic segmentation branch and a joint branch which further processes semantic and depth information altogether. The experiments done on Virtual KITTI 2 dataset, demonstrate and provide further evidence, that combining both tasks, semantic segmentation and depth completion, in a multi-task network can effectively improve the performance of each task. Code is available at https://github.com/juanb09111/semantic depth. ## Recorded benchmark results A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. - [Depth Completion on Virtual KITTI 2 (val)](): Depth Completion; Virtual KITTI 2 (val); RMSE: 458.2. ## Original sources and implementation [Original paper]() [PDF]()