{"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/self-supervised-deep-depth-denoising","title":"Self-Supervised Deep Depth Denoising","arxiv_id":"1909.01193","date":"2019-09-03","proceeding":"ICCV 2019 10","authors":["Vladimiros Sterzentsenko","Leonidas Saroglou","Anargyros Chatzitofis","Spyridon Thermos","Nikolaos Zioulis","Alexandros Doumanoglou","Dimitrios Zarpalas","Petros Daras"],"abstract":"Depth perception is considered an invaluable source of information for various vision tasks. However, depth maps acquired using consumer-level sensors still suffer from non-negligible noise. This fact has recently motivated researchers to exploit traditional filters, as well as the deep learning paradigm, in order to suppress the aforementioned non-uniform noise, while preserving geometric details. Despite the effort, deep depth denoising is still an open challenge mainly due to the lack of clean data that could be used as ground truth. In this paper, we propose a fully convolutional deep autoencoder that learns to denoise depth maps, surpassing the lack of ground truth data. Specifically, the proposed autoencoder exploits multiple views of the same scene from different points of view in order to learn to suppress noise in a self-supervised end-to-end manner using depth and color information during training, yet only depth during inference. To enforce selfsupervision, we leverage a differentiable rendering technique to exploit photometric supervision, which is further regularized using geometric and surface priors. As the proposed approach relies on raw data acquisition, a large RGB-D corpus is collected using Intel RealSense sensors. Complementary to a quantitative evaluation, we demonstrate the effectiveness of the proposed self-supervised denoising approach on established 3D reconstruction applications. Code is avalable at https://github.com/VCL3D/DeepDepthDenoising","url_abs":"https://arxiv.org/abs/1909.01193v2","url_pdf":"https://arxiv.org/pdf/1909.01193v2.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":"self-supervised-deep-depth-denoising","repo_url":"https://github.com/VCL3D/DeepDepthDenoising","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"3d-reconstruction","task_name":"3D Reconstruction"},{"task_slug":"denoising","task_name":"Denoising"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1909.01193","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1909.01193"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/VCL3D/DeepDepthDenoising","reach":null}],"summary":{"ran_draft_wrong":1},"by_repo_kind":{"official":{"samples":1,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"b579403b36c532af","entry":"parse_arguments","repo":"VCL3D/DeepDepthDenoising","repo_kind":"official","path":"inference.py","file_url":"https://github.com/VCL3D/DeepDepthDenoising/blob/HEAD/inference.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":"deterministic","behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"b579403b36c532af"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}