Depth Completion on KITTI depth completion official (test)
226.214RMSE (mm)DSN
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| DSNkernel size=3, iterations=1, morphological mode=Closing2020.10 | 226.214 | 46.724 | 0.541 | 0.211 | — | |
| DSNkernel size=3, iterations=2, morphological mode=Closing2020.10 | 326.323 | 82.137 | 0.747 | 0.363 | — | |
| DSNkernel size=3, iterations=3, morphological mode=Closing2020.10 | 391.138 | 106.925 | 0.867 | 0.458 | — | |
| DSNkernel size=3, iterations=4, morphological mode=Closing2020.10 | 457.346 | 129.353 | 0.972 | 0.533 | — | |
| DSNkernel size=3, iterations=5, morphological mode=Closing2020.10 | 519.606 | 148.963 | 1.082 | 0.597 | — | |
| BP-Net2024.03 | 684.9 | 194.69 | 1.82 | 0.84 | — | |
| LRRU2024.03 | 696.51 | 189.96 | 1.87 | 0.81 | — | |
| BEV@DC2024.03 | 697.44 | 189.44 | 1.83 | 0.82 | — | |
| CompletionFormerRepresentation=2D2024.03 | 708.87 | 203.45 | 2.01 | 0.88 | — | |
| CFormer2024.03 | 708.87 | 203.45 | 2.01 | 0.88 | — | |
| DySPNRepresentation=2D2024.03 | 709.12 | 192.71 | 1.88 | 0.82 | — | |
| DySPN2024.03 | 709.12 | 192.71 | 1.88 | 0.82 | — | |
| RigNet2021.07 | 712.66 | 203.25 | 2.08 | 0.9 | — | |
| RigNetRepresentation=2D2024.03 | 712.66 | 203.25 | 2.08 | 0.9 | — | |
| RigNet2024.03 | 712.66 | 203.25 | 2.08 | 0.9 | — | |
| DeCoTRRepresentation=3D2024.03 | 717.07 | 195.3 | 1.92 | 0.84 | — | |
| GuideFormerRepresentation=2D2024.03 | 721.48 | 207.76 | 2.14 | 0.97 | — | |
| PENet2021.07 | 730.08 | 210.55 | 2.17 | 0.94 | — | |
| PENetRepresentation=2D2024.03 | 730.08 | 210.55 | 2.17 | 0.94 | — | |
| FCFRNet2021.07 | 735.81 | 217.15 | 2.2 | 0.98 | — | |
| FCFR2024.03 | 735.81 | 217.15 | 2.2 | 0.98 | — | |
| PointDCRepresentation=3D2024.03 | 736.07 | 201.87 | 1.97 | 0.87 | — | |
| GuideNet2019.08 | 736.24 | 218.83 | 2.25 | 0.99 | — | |
| GuideNet2020.10 | 736.24 | 218.83 | 2.25 | 0.99 | — | |
| GuideNet2021.07 | 736.24 | 218.83 | 2.25 | 0.99 | — | |
| GuideNetRepresentation=2D2024.03 | 736.24 | 218.83 | 2.25 | 0.99 | — | |
| GuideNet2024.03 | 736.24 | 218.83 | 2.25 | 0.99 | — | |
| GraphCSPNRepresentation=3D2024.03 | 738.41 | 199.31 | 1.96 | 0.84 | — | |
| NLSPN2020.10 | 741.68 | 199.59 | 1.99 | 0.84 | — | |
| NLSPN2021.07 | 741.68 | 199.59 | 1.99 | 0.84 | — | |
| NLSPNRepresentation=2D2024.03 | 741.68 | 199.59 | 1.99 | 0.84 | — | |
| NLSPN2024.03 | 741.68 | 199.59 | 1.99 | 0.84 | — | |
| PointFusionRepresentation=3D2024.03 | 741.9 | 201.1 | 1.97 | 0.85 | — | |
| CSPN++2020.10 | 743.69 | 209.28 | 2.07 | 0.9 | — | |
| CSPN++2021.07 | 743.69 | 209.28 | 2.07 | 0.9 | — | |
| CSPN++2024.03 | 743.69 | 209.28 | 2.07 | 0.9 | — | |
| ACMNet2021.07 | 744.91 | 206.09 | 2.08 | 0.9 | — | |
| ACMNetRepresentation=2D2024.03 | 744.91 | 206.09 | 2.08 | 0.9 | — | |
| ACMNet2024.03 | 744.91 | 206.09 | 2.08 | 0.9 | — | |
| Input Fusion + HierCCVNorm (Ours Full)Data=Stereo2019.04 | 749.3 | 252.5 | 1.4 | 0.81 | — | |
| Zhu2021.07 | 751.59 | 198.09 | 1.98 | 0.85 | — | |
| UberATG-FuseNet2020.10 | 752.88 | 221.19 | 2.34 | 1.14 | — | |
| FuseNetRepresentation=3D2024.03 | 752.88 | 221.19 | 2.34 | 1.14 | — | |
| DeepLiDAR2019.08 | 758.38 | 226.5 | 2.56 | 1.15 | — | |
| DeepLiDAR2020.10 | 758.38 | 226.5 | 2.56 | 1.15 | — | |
| DLIDARutilizes additional dataset=CARLA2021.07 | 758.38 | 226.5 | 2.56 | 1.15 | — | |
| DeepLiDAR2024.03 | 758.38 | 226.5 | 2.56 | 1.15 | — | |
| MSG-CHN2020.10 | 762.19 | 220.41 | 2.3 | 0.98 | — | |
| DSPN2020.10 | 766.74 | 220.36 | 2.47 | 1.03 | — | |
| FusionNetData=Mono2019.04 | 772.8 | 215 | 2.19 | 0.93 | — | |
| RGB_certainty2019.08 | 772.87 | 215.02 | 2.19 | 0.93 | — | |
| RGB_guide&certainty2020.10 | 772.87 | 215.02 | 2.19 | 0.93 | — | |
| Fusion2021.07 | 772.87 | 215.02 | 2.19 | 0.93 | — | |
| FusionNetRGB=true2019.02 | 773 | 215 | — | — | 0.02 | |
| PwP2020.10 | 777.05 | 235.17 | 2.42 | 1.13 | — | |
| RGB_guide&Certainty2019.05 | 778.89 | 168.82 | 3.26 | 0.74 | — | |
| Revisiting NN+CNN2020.10 | 792.8 | 225.81 | 2.42 | 0.99 | — | |
| CrossGuidance2020.10 | 807.42 | 253.98 | 2.73 | 1.33 | — | |
| Ma et al.Data=Mono2019.04 | 814.7 | 249.9 | 2.8 | 1.21 | — | |
| Ours-RGBdInput=RGBd2018.07 | 814.73 | 249.95 | 2.8 | 1.21 | — | |
| Sparse-to-Dense2019.08 | 814.73 | 249.95 | 2.8 | 1.21 | — | |
| Sparse-to-DenseInput=sparse depth and RGB2018.11 | 814.73 | 249.95 | 2.8 | 1.21 | — | |
| Sparse-to-Dense(gd)RGB info=true2018.08 | 814.73 | 249.95 | 2.8 | 1.21 | — | |
| Sparse2denseInput Modality=Monocular2019.05 | 814.73 | 249.95 | 2.8 | 1.21 | — | |
| Sparse-to-Dense2020.10 | 814.73 | 249.95 | 2.8 | 1.21 | — | |
| S2D2021.07 | 814.73 | 249.95 | 2.8 | 1.21 | — | |
| S2D2024.03 | 814.73 | 249.95 | 2.8 | 1.21 | — | |
| Sparse-to-DenseRGB=true2019.02 | 815 | 250 | — | — | 0.08 | |
| NConv-CNNData=Mono2019.04 | 829.9 | 233.3 | 2.6 | 1.03 | — | |
| NConv-CNN2019.08 | 829.98 | 233.26 | 2.6 | 1.03 | — | |
| MS-Net[LF]Input=sparse depth and RGB, Loss=L22018.11 | 829.98 | 233.26 | 2.6 | 1.03 | — | |
| NConv2020.10 | 829.98 | 233.26 | 2.6 | 1.03 | — | |
| NConv2021.07 | 829.98 | 233.26 | 2.6 | 1.03 | — | |
| NConv-CNN-L2RGB=true2019.02 | 830 | 233 | — | — | 0.02 | |
| LiStereoInput Modality=Stereo, Training Supervision=with GT2019.05 | 832.16 | 283.91 | 2.19 | 1.1 | — | |
| DDP2019.08 | 832.94 | 203.96 | 2.1 | 0.85 | — | |
| DDP2020.10 | 832.94 | 203.96 | 2.1 | 0.85 | — | |
| TWISE2021.07 | 840.2 | 195.58 | 2.08 | 0.82 | — | |
| TWISERepresentation=2D2024.03 | 840.2 | 195.58 | 2.08 | 0.82 | — | |
| HMS-NetInput=sparse depth and RGB2018.11 | 841.78 | 253.47 | 2.73 | 1.13 | — | |
| HMS-NetRGB info=true2018.08 | 841.78 | 253.47 | 2.73 | 1.13 | — | |
| HMS-Net_v2RGB=true2019.02 | 842 | 253 | — | — | 0.02 | |
| NConv-CNN-L1RGB=true2019.02 | 859 | 208 | — | — | 0.02 | |
| MS-Net[LF]Input=sparse depth and RGB, Loss=L12018.11 | 859.22 | 207.77 | 2.52 | 0.92 | — | |
| PRNetRepresentation=3D2024.03 | 867.12 | 204.68 | 2.17 | 0.85 | — | |
| BDBF2021.07 | 900.38 | 216.44 | 2.37 | 0.89 | — | |
| IR_L22020.10 | 901.43 | 292.36 | 4.92 | 1.35 | — | |
| HMS-Net_v2*Input=RGB+sD2018.08 | 911.49 | 310.14 | 3.9 | 1.9 | — | |
| NASNet-based Encoder-DecoderInput=RGB+sD2018.08 | 917.64 | 234.81 | 2.17 | 0.95 | — | |
| SpadeInput=sparse depth and RGB2018.11 | 917.64 | 234.81 | 2.17 | 0.95 | — | |
| Spade-RGBSDRGB info=true2018.08 | 917.64 | 234.81 | 2.17 | 0.95 | — | |
| Spade-RGBSD2020.10 | 917.64 | 234.81 | 2.17 | 0.95 | — | |
| Spade-RGBSDRGB=true2019.02 | 918 | 235 | — | — | 0.07 | |
| FusionNetRGB=false2019.02 | 923 | 249 | — | — | 0.02 | |
| HMS-NetRGB=false2019.02 | 937 | 258 | — | — | 0.02 | |
| HMS-NetInput=sparse depth only2018.11 | 937.48 | 258.48 | 2.93 | 1.14 | — | |
| HMS-NetRGB info=false2018.08 | 937.48 | 258.48 | 2.93 | 1.14 | — | |
| DFineNet2020.10 | 943.89 | 304.17 | 3.21 | 1.39 | — | |
| Sparse-to-DenseRGB=false2019.02 | 954 | 288 | — | — | 0.04 | |
| Ours-dInput=d2018.07 | 954.36 | 288.64 | 3.21 | 1.35 | — |