{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/g2-monodepth-a-general-framework-of","title":"G2-MonoDepth: A General Framework of Generalized Depth Inference from Monocular RGB+X Data","arxiv_id":"2310.15422","date":"2023-10-24","proceeding":null,"authors":["Haotian Wang","Meng Yang","Nanning Zheng"],"abstract":"Monocular depth inference is a fundamental problem for scene perception of robots. Specific robots may be equipped with a camera plus an optional depth sensor of any type and located in various scenes of different scales, whereas recent advances derived multiple individual sub-tasks. It leads to additional burdens to fine-tune models for specific robots and thereby high-cost customization in large-scale industrialization. This paper investigates a unified task of monocular depth inference, which infers high-quality depth maps from all kinds of input raw data from various robots in unseen scenes. A basic benchmark G2-MonoDepth is developed for this task, which comprises four components: (a) a unified data representation RGB+X to accommodate RGB plus raw depth with diverse scene scale/semantics, depth sparsity ([0%, 100%]) and errors (holes/noises/blurs), (b) a novel unified loss to adapt to diverse depth sparsity/errors of input raw data and diverse scales of output scenes, (c) an improved network to well propagate diverse scene scales from input to output, and (d) a data augmentation pipeline to simulate all types of real artifacts in raw depth maps for training. G2-MonoDepth is applied in three sub-tasks including depth estimation, depth completion with different sparsity, and depth enhancement in unseen scenes, and it always outperforms SOTA baselines on both real-world data and synthetic data.","url_abs":"https://arxiv.org/abs/2310.15422v1","url_pdf":"https://arxiv.org/pdf/2310.15422v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"g2-monodepth-a-general-framework-of","repo_url":"https://github.com/wang-xjtu/g2-monodepth","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"data-augmentation","task_name":"Data Augmentation"},{"task_slug":"depth-completion","task_name":"Depth Completion"},{"task_slug":"depth-estimation","task_name":"Depth Estimation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2310.15422","atlas_url":"https://app.syntology.ai/?focus=2310.15422","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}