{"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/steeredmarigold-steering-diffusion-towards","title":"SteeredMarigold: Steering Diffusion Towards Depth Completion of Largely Incomplete Depth Maps","arxiv_id":"2409.10202","date":"2024-09-16","proceeding":null,"authors":["Jakub Gregorek","Lazaros Nalpantidis"],"abstract":"Even if the depth maps captured by RGB-D sensors deployed in real environments are often characterized by large areas missing valid depth measurements, the vast majority of depth completion methods still assumes depth values covering all areas of the scene. To address this limitation, we introduce SteeredMarigold, a training-free, zero-shot depth completion method capable of producing metric dense depth, even for largely incomplete depth maps. SteeredMarigold achieves this by using the available sparse depth points as conditions to steer a denoising diffusion probabilistic model. Our method outperforms relevant top-performing methods on the NYUv2 dataset, in tests where no depth was provided for a large area, achieving state-of-art performance and exhibiting remarkable robustness against depth map incompleteness. Our source code is publicly available at https://steeredmarigold.github.io.","url_abs":"https://arxiv.org/abs/2409.10202v2","url_pdf":"https://arxiv.org/pdf/2409.10202v2.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":"steeredmarigold-steering-diffusion-towards","repo_url":"https://github.com/DTU-PAS/steered-marigold","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"denoising","task_name":"Denoising"},{"task_slug":"depth-completion","task_name":"Depth Completion"},{"task_slug":null,"task_name":"valid"}],"methods":[{"method_slug":"diffusion","method_name":"Diffusion"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2409.10202","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}