Zero-shot Depth Completion via Test-time Alignment with Affine-invariant Depth Prior

Depth completion, predicting dense depth maps from sparse depth measurements, is an ill-posed problem requiring prior knowledge. Recent methods adopt learning-based approaches to implicitly capture priors, but the priors primarily fit in-domain data and do not generalize well to out-of-domain scenarios. To address this, we propose a zero-shot depth completion method composed of an affine-invariant depth diffusion model and test-time alignment. We use pre-trained depth diffusion models as depth prior knowledge, which implicitly understand how to fill in depth for scenes. Our approach aligns the affine-invariant depth prior with metric-scale sparse measurements, enforcing them as hard constraints via an optimization loop at test-time. Our zero-shot depth completion method demonstrates generalization across various domain datasets, achieving up to a 21\% average performance improvement over the previous state-of-the-art methods while enhancing spatial understanding by sharpening scene details. We demonstrate that aligning a monocular affine-invariant depth prior with sparse metric measurements is a proven strategy to achieve domain-generalizable depth completion without relying on extensive training data. Project page:this https URL.

@article{hyoseok2025_2502.06338,
  title={ Zero-shot Depth Completion via Test-time Alignment with Affine-invariant Depth Prior },
  author={ Lee Hyoseok and Kyeong Seon Kim and Kwon Byung-Ki and Tae-Hyun Oh },
  journal={arXiv preprint arXiv:2502.06338},
  year={ 2025 }
}