Papers › Learning to Recover 3D Scene Shape from a Single Image
Learning to Recover 3D Scene Shape from a Single Image
Wei Yin, Jianming Zhang, Oliver Wang, Simon Niklaus, Long Mai, Simon Chen, Chunhua Shen
Despite significant progress in monocular depth estimation in the wild, recent state-of-the-art methods cannot be used to recover accurate 3D scene shape due to an unknown depth shift induced by shift-invariant reconstruction losses used in mixed-data depth prediction training, and possible unknown camera focal length. We investigate this problem in detail, and propose a two-stage framework that first predicts depth up to an unknown scale and shift from a single monocular image, and then use 3D point cloud encoders to predict the missing depth shift and focal length that allow us to recover a realistic 3D scene shape. In addition, we propose an image-level normalized regression loss and a normal-based geometry loss to enhance depth prediction models trained on mixed datasets. We test our depth model on nine unseen datasets and achieve state-of-the-art performance on zero-shot dataset generalization. Code is available at: https://git.io/Depth
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Code
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Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| Depth Estimation | DIODE | LeRes | Delta < 1.25 | 0.234 | #2 of 2 | Archive leaderboard | report |
| Depth Estimation | ScanNetV2 | LeReS | absolute relative error | 0.095 | #3 of 3 | Archive leaderboard | report |
| Indoor Monocular Depth Estimation | DIODE | LeReS | Delta < 1.25^3 | 0.900 | #1 of 2 | Archive leaderboard | report |
| Monocular Depth Estimation | ETH3D | LeReS | Delta < 1.25 | 0.0777 | #9 of 10 | Archive leaderboard | report |
| Monocular Depth Estimation | ETH3D | LeReS | absolute relative error | 0.0171 | #9 of 10 | Archive leaderboard | report |
| Monocular Depth Estimation | KITTI Eigen split | LeReS | Delta < 1.25 | 0.784 | #77 of 79 | Archive leaderboard | report |
| Monocular Depth Estimation | KITTI Eigen split | LeReS | absolute relative error | 0.149 | #77 of 79 | Archive leaderboard | report |
| Monocular Depth Estimation | NYU-Depth V2 | LeReS | Delta < 1.25 | 0.916 | #39 of 85 | Archive leaderboard | report |
| Monocular Depth Estimation | NYU-Depth V2 | LeReS | absolute relative error | 0.09 | #39 of 85 | Archive leaderboard | report |
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