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Papers Benchmarks Datasets Tasks

Depth Completion research benchmarks – Page 5 · SOTA2 Research

Depth Completion

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

NYU-Depth Setting C: T* ⇒ T V2 (test)

47.39CD

7

Feb 26, 2026

NYU-Depth Setting B: R* ⇒ T V2 (test)

249.05CD

7

Feb 26, 2026

NYU-Depth Setting A: R ⇒ T V2 (test)

33.15CD

7

Feb 26, 2026

90F-Score (Avg)

7

Feb 26, 2026

VOID 1.0 (test)

VGG11 SLAM Pose

73.14MAE

7

Feb 26, 2026

KITTI depth completion supervised (test)

2.12iRMSE

7

Feb 26, 2026

VOID 150 points (val)

0.9RMSE

6

Feb 26, 2026

VOID 500 points (val)

0.74RMSE

6

Feb 26, 2026

VOID 1500 points (val)

0.68RMSE

6

Feb 26, 2026

12.95Runtime (ms)

6

Mar 12, 2026

3.52Runtime (ms)

6

Feb 26, 2026

HAMMER All (test)

28.63RMSE (mm)

6

Feb 26, 2026

HAMMER i-ToF (test)

37.27RMSE (mm)

6

Feb 26, 2026

HAMMER d-ToF (test)

23.84RMSE (mm)

6

Feb 26, 2026

HAMMER Active Stereo (test)

24.78RMSE (mm)

6

Feb 26, 2026

SUN RGBD (Xtion)

0.119RMSE (m)

6

Feb 26, 2026

SUN RGBD (Kinect V1)

0.087RMSE (m)

6

Feb 26, 2026

Indoor Depth Completion with Boundary Consistency and Self-Attention

1.092RMSE

6

Feb 26, 2026

ClearGrasp 1.0 (Real-novel)

0.025RMSE

6

Feb 26, 2026

ClearGrasp 1.0 (Real-known)

0.028RMSE

6

Feb 26, 2026

ClearGrasp 1.0 (Syn-novel)

0.028RMSE

6

Feb 26, 2026

ClearGrasp 1.0 (Syn-known)

0.012RMSE

6

Feb 26, 2026

SUN RGBD Xtion sensor (test)

0.119RMSE

6

Feb 26, 2026

SUN RGBD Kinect V1 (test)

0.096RMSE

6

Feb 26, 2026

Synthetic sequences (test)

Veritatem Dies Aperit

47.45PSNR

6

Feb 26, 2026

Page 5 of 7

Popular datasets

KITTI VOID ScanNet NYU HAMMER

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