Depth Completion on KITTI (test)
3.157RMSECFCNet
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| CFCNetInput=RGB+SD, Training Dataset=KITTI, Sparse Points=100 pts, Depth Evaluation Cap=50m2019.06 | 3.157 | 91 | 97.1 | 98.9 | — | — | — | — | |
| CFCNetInput=RGB+SD, Training Dataset=Cityscapes, Sparse Points=100 pts, Depth Evaluation Cap=50m2019.06 | 4.524 | 83.7 | 95.2 | 98.1 | — | — | — | — | |
| CFCNetInput=RGB+SD, Training Dataset=Cityscapes, Sparse Points=100 pts, Depth Evaluation Cap=None2019.06 | 5.827 | 82.6 | 94.7 | 97.9 | — | — | — | — | |
| Zhou et al.Input=RGB, Training Dataset=Cityscapes, Sparse Points=100 pts, Depth Evaluation Cap=50m2019.06 | 6.148 | 59 | 85.2 | 94.5 | — | — | — | — | |
| CFCNetInput=RGB+SD, Training Dataset=Cityscapes, Sparse Points=50 pts, Depth Evaluation Cap=50m2019.06 | 6.334 | 79.2 | 93.2 | 97.3 | — | — | — | — | |
| Zhou et al.Input=RGB, Training Dataset=Cityscapes, Sparse Points=100 pts, Depth Evaluation Cap=None2019.06 | 7.58 | 57.7 | 84 | 93.7 | — | — | — | — | |
| CFCNetInput=RGB+SD, Training Dataset=Cityscapes, Sparse Points=50 pts, Depth Evaluation Cap=None2019.06 | 7.841 | 78.3 | 92.7 | 97 | — | — | — | — | |
| Aleotti et al.Input=RGB, Training Dataset=Cityscapes, Sparse Points=100 pts, Depth Evaluation Cap=None2019.06 | 14.051 | 6.3 | 39.4 | 87.6 | — | — | — | — | |
| Godard et al.Input=RGB, Training Dataset=Cityscapes, Sparse Points=100 pts, Depth Evaluation Cap=None2019.06 | 14.445 | 5.3 | 32.6 | 86.2 | — | — | — | — | |
| DMD3C2025.03 | 678.12 | — | — | — | 194.46 | 1.82 | 0.85 | — | |
| DMD3C2026.01 | 678.12 | — | — | — | 194.46 | 1.82 | 0.85 | — | |
| GBPN2026.01 | 682.2 | — | — | — | 192.14 | 1.78 | 0.82 | — | |
| BP-NetYear=20242025.03 | 684.9 | — | — | — | 194.69 | 1.82 | 0.84 | — | |
| BP-Net2026.01 | 684.9 | — | — | — | 194.69 | 1.82 | 0.84 | — | |
| ImprovingDCYear=20242025.03 | 686.46 | — | — | — | 187.95 | 1.83 | 0.81 | — | |
| ImprovingDC2026.01 | 686.46 | — | — | — | 187.95 | 1.83 | 0.81 | — | |
| TPVDYear=20242025.03 | 693.97 | — | — | — | 188.6 | 1.82 | 0.81 | — | |
| TPVD2026.01 | 693.97 | — | — | — | 188.6 | 1.82 | 0.81 | — | |
| LRRUYear=20232025.03 | 696.51 | — | — | — | 189.96 | 1.87 | 0.81 | — | |
| LRRU2026.01 | 696.51 | — | — | — | 189.96 | 1.87 | 0.81 | — | |
| BEV@DCYear=20232025.03 | 697.44 | — | — | — | 189.44 | 1.83 | 0.82 | — | |
| BEV@DC2026.01 | 697.44 | — | — | — | 189.44 | 1.83 | 0.82 | — | |
| DGDF2026.01 | 707.93 | — | — | — | 205.11 | 2.05 | 0.91 | — | |
| OGNI-DC2026.01 | 708.38 | — | — | — | 193.2 | 1.86 | 0.83 | — | |
| CFormerYear=20232025.03 | 708.87 | — | — | — | 203.45 | 2.01 | 0.88 | — | |
| CFormer2026.01 | 708.87 | — | — | — | 203.45 | 2.01 | 0.88 | — | |
| DySPNYear=20222025.03 | 709.12 | — | — | — | 192.71 | 1.88 | 0.82 | — | |
| DySPN2026.01 | 709.12 | — | — | — | 192.71 | 1.88 | 0.82 | — | |
| RigNetYear=20222025.03 | 712.66 | — | — | — | 203.25 | 2.08 | 0.9 | — | |
| RigNet2026.01 | 712.66 | — | — | — | 203.25 | 2.08 | 0.9 | — | |
| PENetRuntime1=0.04s, Runtime2=0.032s2021.03 | 730.08 | — | — | — | 210.55 | 2.17 | 0.94 | — | |
| FCFRYear=20212025.03 | 735.81 | — | — | — | 217.15 | 2.2 | 0.98 | — | |
| FCFR2026.01 | 735.81 | — | — | — | 217.15 | 2.2 | 0.98 | — | |
| PointDCYear=20232025.03 | 736.07 | — | — | — | 201.87 | 1.97 | 0.87 | — | |
| GuideNetRuntime1=0.14s2021.03 | 736.24 | — | — | — | 218.83 | 2.25 | 0.99 | — | |
| GuideNetYear=20202025.03 | 736.24 | — | — | — | 218.83 | 2.25 | 0.99 | — | |
| GuideNet2026.01 | 736.24 | — | — | — | 218.83 | 2.25 | 0.99 | — | |
| ENetRuntime1=0.02s, Runtime2=0.019s2021.03 | 741.3 | — | — | — | 216.26 | 2.14 | 0.95 | — | |
| NLSPNRuntime1=0.22s, Runtime2=0.127s2021.03 | 741.68 | — | — | — | 199.59 | 1.99 | 0.84 | — | |
| NLSPNYear=20202025.03 | 741.68 | — | — | — | 199.59 | 1.99 | 0.84 | — | |
| NLSPN2026.01 | 741.68 | — | — | — | 199.59 | 1.99 | 0.84 | — | |
| CSPN++Runtime1=0.2s2021.03 | 743.69 | — | — | — | 209.28 | 2.07 | 0.9 | — | |
| CSPN++Year=20202025.03 | 743.69 | — | — | — | 209.28 | 2.07 | 0.9 | — | |
| CSPN++2026.01 | 743.69 | — | — | — | 209.28 | 2.07 | 0.9 | — | |
| ACMNetRuntime1=0.2s, Runtime2=0.330s2021.03 | 744.91 | — | — | — | 206.09 | 2.08 | 0.9 | — | |
| ACMNetYear=20212025.03 | 744.91 | — | — | — | 206.09 | 2.08 | 0.9 | — | |
| ACMNet2026.01 | 744.91 | — | — | — | 206.09 | 2.08 | 0.9 | — | |
| UberATGRuntime1=0.09s2021.03 | 752.88 | — | — | — | 221.19 | 2.34 | 1.14 | — | |
| DeepLiDARRuntime1=0.07s, Runtime2=0.051s2021.03 | 758.38 | — | — | — | 226.5 | 2.56 | 1.15 | — | |
| DeepLiDARYear=20192025.03 | 758.38 | — | — | — | 226.5 | 2.56 | 1.15 | — | |
| DeepLiDAR2026.01 | 758.38 | — | — | — | 226.5 | 2.56 | 1.15 | — | |
| MSG-CHNRuntime1=0.01s, Runtime2=0.011s2021.03 | 762.19 | — | — | — | 220.41 | 2.3 | 0.98 | — | |
| DSPNRuntime1=0.34s2021.03 | 766.74 | — | — | — | 220.36 | 2.47 | 1.03 | — | |
| FusionNetRuntime1=0.02s, Runtime2=0.022s2021.03 | 772.87 | — | — | — | 215.02 | 2.19 | 0.93 | — | |
| PwPRuntime1=0.1s2021.03 | 777.05 | — | — | — | 235.17 | 2.42 | 1.13 | — | |
| S2DYear=20182025.03 | 814.73 | — | — | — | 249.95 | 2.8 | 1.21 | — | |
| S2D2026.01 | 814.73 | — | — | — | 249.95 | 2.8 | 1.21 | — | |
| CSPNYear=20192025.03 | 1,019.64 | — | — | — | 279.46 | 2.93 | 1.15 | — | |
| KBNet# Param=6.9M, Time=16ms, additional synthetic data=false2021.08 | 1,069.47 | — | — | — | 256.76 | 2.95 | 1.02 | — | |
| SynthProj# Param=2.6M, Time=60ms, additional synthetic data=true2021.08 | 1,095.26 | — | — | — | 280.42 | 3.53 | 1.19 | — | |
| ScaffNet# Param=7.8M, Time=32ms, additional synthetic data=true2021.08 | 1,121.93 | — | — | — | 280.76 | 3.3 | 1.15 | — | |
| AdaFrame# Param=6.4M, Time=40ms, additional synthetic data=false2021.08 | 1,125.67 | — | — | — | 291.62 | 3.32 | 1.16 | — | |
| VOICED# Param=9.7M, Time=44ms, additional synthetic data=false2021.08 | 1,169.97 | — | — | — | 299.41 | 3.56 | 1.2 | — | |
| DFuseNet# Param=n/a, Time=80ms, additional synthetic data=false2021.08 | 1,206.66 | — | — | — | 429.93 | 3.62 | 1.79 | — | |
| DDP# Param=18.8M, Time=80ms, additional synthetic data=true2021.08 | 1,263.19 | — | — | — | 343.46 | 3.58 | 1.32 | — | |
| IP-Basic# Param=0, Time=11ms, additional synthetic data=false2021.08 | 1,288.46 | — | — | — | 302.6 | 3.78 | 1.29 | — | |
| SS-S2D# Param=27.8M, Time=80ms, additional synthetic data=false2021.08 | 1,299.85 | — | — | — | 350.32 | 4.07 | 1.57 | — | |
| BP-NetFPS=23.81, zero-shot=true2024.12 | — | — | — | — | 1.601 | — | — | 7.769 | |
| Marigold-DCFPS=0.05, zero-shot=true2024.12 | — | — | — | — | 0.556 | — | — | 2.894 | |
| Omni-DCFPS=7.77, zero-shot=true2024.12 | — | — | — | — | 1.065 | — | — | 5.67 | |
| PriorDepthAny.FPS=28.57, zero-shot=true2024.12 | — | — | — | — | 0.573 | — | — | 2.442 | |
| PromptDAFPS=42.02, zero-shot=true2024.12 | — | — | — | — | 0.481 | — | — | 2.13 |