Depth Completion on KITTI depth completion (val)
631.94RMSE (mm)EfficientPENet
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| EfficientPENetParams (M)=36.24, GFLOPs=220.46, Latency (ms)=20.51, FPS=48.762026.04 | 631.94 | 320.37 | — | — | |
| Method 6 (FusionConv)Type of point network=FusionConv2021.03 | 636.2 | 205.1 | 1.8721 | 0.987 | |
| FusionConvModality=Stereo + LiDAR2021.03 | 636.2 | 205.1 | 1.8721 | 0.987 | |
| Method 5Type of point network=MLP2021.03 | 652 | 212 | 2.099 | 1.066 | |
| Method 4Type of point network=Raw points2021.03 | 669 | 226 | 2.169 | 1.12 | |
| DMD3CParams (M)=89.87, GFLOPs=719.64, Latency (ms)=352.30, FPS=2.842026.04 | 678.12 | 195 | — | — | |
| BP-NetParams (M)=89.87, GFLOPs=719.64, Latency (ms)=356.89, FPS=2.802026.04 | 684.97 | 194.04 | — | — | |
| DeepLiDARRuntime (s)=0.072021.04 | 687 | 215.38 | 2.51 | 1.1 | |
| CSPN++Modality=Mono + LiDAR2021.03 | 725.43 | 207.88 | — | — | |
| CSPN++Runtime (s)=0.22021.04 | 725.43 | 207.88 | — | — | |
| PENetParams (M)=131.92, GFLOPs=407.98, Latency (ms)=79.89, FPS=12.522026.04 | 730.08 | 209 | — | — | |
| CCVNModality=Stereo + LiDAR2021.03 | 749.3 | 252.5 | 1.3968 | 0.8069 | |
| NLSPNModality=Mono + LiDAR2021.03 | 771.8 | 197.3 | 2 | 0.8 | |
| GuidenetModality=Mono + LiDAR2021.03 | 777.78 | 221.59 | 2.39 | 1 | |
| FuseNetRuntime (s)=0.092021.04 | 785 | 217 | 2.36 | 1.08 | |
| Depth-NormalRuntime (s)=0.12021.04 | 811.07 | 236.67 | 2.45 | 1.11 | |
| Self-Supervised S2DRuntime (s)=0.082021.04 | 814.73 | 249.95 | 2.8 | 1.21 | |
| LiStereoModality=Stereo + LiDAR2021.03 | 832.16 | 283.91 | 2.19 | 1.1 | |
| MSPNLines=642024.04 | 835.7 | 218.5 | 2.1 | 0.9 | |
| Sparse2DenseModality=Mono + LiDAR2021.03 | 840 | — | — | — | |
| Zhang et al.Lines=642024.04 | 848.7 | 215.9 | 2.5 | 0.9 | |
| PR representationRuntime (s)=0.012021.04 | 867.12 | 204.68 | 2.17 | 0.85 | |
| DySPNLines=642024.04 | 878.5 | 228.6 | 2.5 | 1 | |
| PSMnetModality=Stereo2021.03 | 884 | 332 | 1.649 | 0.999 | |
| NLSPNLines=642024.04 | 889.4 | 238.8 | 2.6 | 1 | |
| DC-allRuntime (s)=0.12021.04 | 1,061 | 252 | — | — | |
| FusionDepth2021.09 | 1,193.92 | — | 3.385 | 1.28 | |
| DC-3coeffRuntime (s)=0.152021.04 | 1,212 | 241 | — | — | |
| MSPNLines=162024.04 | 1,212.7 | 341.8 | 2.6 | 1.2 | |
| SelfDeco2021.09 | 1,212.89 | — | 3.54 | 1.29 | |
| Zhang et al.Lines=162024.04 | 1,218.6 | 337.4 | 3 | 1.2 | |
| VOICED2021.09 | 1,230.85 | — | 3.84 | 1.29 | |
| DySPNLines=162024.04 | 1,274.8 | 366.4 | 3.2 | 1.3 | |
| NLSPNLines=162024.04 | 1,288.9 | 377.2 | 3.4 | 1.4 | |
| DDP2021.09 | 1,310.03 | — | — | — | |
| Sparse to dense2021.09 | 1,342.33 | — | 4.28 | 1.64 | |
| KISS-GP2021.09 | 1,593.37 | — | 27.98 | 2.36 | |
| Park et al.Modality=Stereo + LiDAR2021.03 | 2,021.2 | 500.5 | 3.39 | 1.38 |