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awesome-360-depth-estimation

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State-of-the-art papers for depth estimation of 360 images.

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# Awesome 360 Depth Estimation [![Awesome](https://cdn.rawgit.com/sindresorhus/awesome/d7305f38d29fed78fa85652e3a63e154dd8e8829/media/badge.svg)](https://github.com/sindresorhus/awesome)

> Last Updated: Jan 12, 2026

## Table of Contents
- [Papers](#papers)
  - [Single 360 Image](#single-360-image)
    - [2018-2020: Early Methods](#2018-2020-early-methods)
    - [2021-2022: Fusion & Transformer Era](#2021-2022-fusion--transformer-era)
    - [2023-2025: Recent Advances](#2023-2025-recent-advances)
  - [Multiple 360 Images](#multiple-360-images)

## Papers

### Single 360 Image

#### 2018-2020: Early Methods

| Title | Venue | Year | Resources |
| :---- | :---- | :--- | :-------- |
| Eliminating the Blind Spot: Adapting 3D Object Detection and Monocular Depth Estimation to $360^{\circ}$ Panoramic Imagery | ECCV | 2018 | [[PDF]](https://arxiv.org/pdf/1808.06253) [[CODE]](https://github.com/gdlg/panoramic-depth-estimation) |
| 360D: A dataset and baseline for dense depth estimation from 360 images | ECCV | 2018 | [[PDF]](https://vcl3d.github.io/assets/files/360D_ECCV2018_Workshop.pdf) |
| HoHoNet: 360 Indoor Holistic Understanding with Latent Horizontal Features | CVPR | 2020 | [[PDF]](https://arxiv.org/pdf/2011.11498) [[CODE]](https://github.com/sunset1995/HoHoNet) |
| Deep Depth Estimation on $360^{\circ}$ Images with a Double Quaternion Loss | 3DV | 2020 | [[PDF]](https://3dvar.com/Feng2020Deep.pdf) |
| Geometric Structure Based and Regularized Depth Estimation From 360 Indoor Imagery | CVPR | 2020 | [[PDF]](https://openaccess.thecvf.com/content_CVPR_2020/papers/Jin_Geometric_Structure_Based_and_Regularized_Depth_Estimation_From_360_Indoor_CVPR_2020_paper.pdf) |
| Foreground-aware dense depth estimation for 360 images | WSCG | 2020 | [[PDF]](http://wscg.zcu.cz/wscg2020/Abstracts/F89.html) |
| BiFuse: Monocular 360 Depth Estimation via Bi-Projection Fusion | CVPR | 2020 | [[PDF]](https://openaccess.thecvf.com/content_CVPR_2020/papers/Wang_BiFuse_Monocular_360_Depth_Estimation_via_Bi-Projection_Fusion_CVPR_2020_paper.pdf) [[CODE]](https://github.com/Yeh-yu-hsuan/BiFuse) |
| PADENet: An Efficient and Robust Panoramic Monocular Depth Estimation Network for Outdoor Scenes | IEEE | 2020 | [[PDF]](https://wangkaiwei.org/files/publications/itsc2020_keyang.pdf) [[CODE]](https://github.com/zzzkkkyyy/PADENet) |

#### 2021-2022: Fusion & Transformer Era

| Title | Venue | Year | Resources |
| :---- | :---- | :--- | :-------- |
| UniFuse: Unidirectional Fusion for 360 Panorama Depth Estimation | CVPR | 2021 | [[PDF]](https://arxiv.org/pdf/2102.03550.pdf) [[CODE]](https://github.com/alibaba/UniFuse-Unidirectional-Fusion) |
| Deep Learning-based High-precision Depth Map Estimation from Missing Viewpoints for 360 Degree Digital Holography | MDPI | 2021 | [[PDF]](https://arxiv.org/pdf/2103.05158.pdf) |
| Depth Estimation from a Single Omnidirectional Image using Domain Adaptation | ACM | 2021 | [[PDF]](http://www.3dkim.com/Eng/papers/31ICASSP.pdf) |
| Pano3D: A Holistic Benchmark and a Solid Baseline for $360^{\circ}$ Depth Estimation | CVPR | 2021 | [[PDF]](https://arxiv.org/pdf/2109.02749.pdf) [[CODE]](https://github.com/VCL3D/Pano3D) |
| SliceNet: deep dense depth estimation from a single indoor panorama using a slice-based representation | CVPR | 2021 | [[PDF]](https://openaccess.thecvf.com/content/CVPR2021/papers/Pintore_SliceNet_Deep_Dense_Depth_Estimation_From_a_Single_Indoor_Panorama_CVPR_2021_paper.pdf) [[CODE]](https://github.com/crs4/SliceNet) |
| Improving 360◦ Monocular Depth Estimation via Non-local Dense Prediction Transformer and Joint Supervised and Self-supervised Learning | AAAI | 2022 | [[PDF]](https://arxiv.org/pdf/2109.10563.pdf) [[CODE]](https://github.com/yuniw18/Joint_360depth) |
| Depth360: Monocular Depth Estimation using Learnable Axisymmetric Camera Model for Spherical Camera Image | IROS | 2022 | [[PDF]](https://arxiv.org/pdf/2110.10415v1.pdf) |
| ACDNet: Adaptively Combined Dilated Convolution for Monocular Panorama Depth Estimation | AAAI | 2022 | [[PDF]](https://arxiv.org/pdf/2112.14440v2) [[CODE]](https://github.com/zcq15/ACDNet) |
| Rethinking Supervised Depth Estimation for $360^{\circ}$ Panoramic Imagery | CVF | 2022 | [[PDF]](https://openaccess.thecvf.com/content/CVPR2022W/OmniCV/papers/He_Rethinking_Supervised_Depth_Estimation_for_360deg_Panoramic_Imagery_CVPRW_2022_paper.pdf) |
| HiMODE: A Hybrid Monocular Omnidirectional Depth Estimation Model | CVF | 2022 | [[PDF]](https://arxiv.org/pdf/2204.05007v1) [[CODE]](https://github.com/himode5008/HiMODE) |
| Neural Contourlet Network for Monocular $360^{\circ}$ Depth Estimation | IEEE TCSVT | 2022 | [[PDF]](https://arxiv.org/pdf/2208.01817v1) [[CODE]](https://github.com/zhijieshen-bjtu/Neural-Contourlet-Network-for-MODE) |
| GLPanoDepth: Global-to-Local Panoramic Depth Estimation | IEEE TIP | 2022 | [[PDF]](https://arxiv.org/pdf/2202.02796v2) [[CODE]](https://github.com/LeoDarcy/GLPanoDepth) |
| 360 Depth Estimation in the Wild -- the Depth360 Dataset and the SegFuse Network | CVPR | 2022 | [[PDF]](https://arxiv.org/pdf/2202.08010.pdf) [[CODE]](https://github.com/HAL-lucination/segfuse) |
| BiFuse++: Self-supervised and Efficient Bi-projection Fusion for $360^{\circ}$ Depth Estimation | 3D Research | 2022 | [[PDF]](https://arxiv.org/pdf/2209.02952.pdf) [[CODE]](https://github.com/fuenwang/BiFusev2) |
| PanoFormer: Panorama Transformer for Indoor $360^{\circ}$ Depth Estimation | CVPR/ECCV | 2022 | [[PDF]](https://arxiv.org/pdf/2203.09283.pdf) [[CODE]](https://github.com/zhijieshen-bjtu/PanoFormer) |
| OmniFusion: 360 Monocular Depth Estimation via Geometry Aware Fusion | CVPR | 2022 | [[PDF]](https://arxiv.org/pdf/2202.01323.pdf) [[CODE]](https://github.com/yuyanli0831/OmniFusion) |
| SphereDepth: Panorama Depth Estimation from Spherical Domain | CVPR | 2022 | [[PDF]](https://arxiv.org/pdf/2208.13714v1.pdf) [[CODE]](https://github.com/Yannnnnnnnnnnn/SphereDepth) |
| 360MonoDepth: High-Resolution $360^{\circ}$ Monocular Depth Estimation | CVPR | 2022 | [[PDF]](https://arxiv.org/pdf/2111.15669.pdf) [[CODE]](https://github.com/manurare/360monodepth) |
| Distortion-Aware Self-Supervised $360^{\circ}$ Depth Estimation from A Single Equirectangular Projection Image | IEEE | 2022 | [[PDF]](https://arxiv.org/pdf/2204.01027v1.pdf) |
| Learning high-quality depth map from $360^{\circ}$ multi-exposure imagery | Springer | 2022 | [[LINK]](https://link.springer.com/article/10.1007/s11042-022-13340-x) |

#### 2023-2025: Recent Advances

| Title | Venue | Year | Resources |
| :---- | :---- | :--- | :-------- |
| Adversarial Mixture Density Network and Uncertainty-based Joint Learning for $360^{\circ}$ Monocular Depth Estimation | IEEE | 2023 | [[LINK]](https://ieeexplore.ieee.org/document/10243094) |
| High-Resolution Depth Estimation for 360-degree Panoramas through Perspective and Panoramic Depth Images Registration | WACV | 2023 | [[PDF]](https://arxiv.org/pdf/2210.10414.pdf) |
| HRDFuse: Monocular 360$^{\circ}$ Depth Estimation by Collaboratively Learning Holistic-with-Regional Depth Distributions | CVF | 2023 | [[PDF]](https://arxiv.org/pdf/2303.11616) [[CODE]](https://github.com/haoai-1997/HRDFuse) |
| $\mathcal{S}^2$ Net: Accurate Panorama Depth Estimation on Spherical Surface | CVPR | 2023 | [[PDF]](https://arxiv.org/pdf/2301.05845.pdf) [[CODE]](https://github.com/aliyun/S2net) |
| ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depth [^1] | arXiv | 2023 | [[PDF]](https://arxiv.org/pdf/2302.12288.pdf) [[CODE]](https://github.com/isl-org/ZoeDepth) |
| EGformer: Equirectangular Geometry-biased Transformer for 360 Depth Estimation | ICCV | 2023 | [[PDF]](https://arxiv.org/pdf/2304.07803.pdf) [[CODE]](https://github.com/yuniw18/EGformer) |
| FreDSNet: Joint Monocular Depth and Semantic Segmentation with Fast Fourier Convolutions | ICRA | 2023 | [[PDF]](https://arxiv.org/pdf/2210.01595v2) [[CODE]](https://github.com/Sbrunoberenguel/FreDSNet) |
| Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data [^1] | CVPR | 2024 | [[PDF]](https://arxiv.org/pdf/2401.10891.pdf) [[CODE]](https://github.com/LiheYoung/Depth-Anything) |
| Depth Anywhere: Enhancing 360 Monocular Depth Estimation via Perspective Distillation and Unlabeled Data Augmentation | NeurIPS | 2024 | [[PDF]](https://arxiv.org/pdf/2406.12849) [[CODE]](https://github.com/albert100121/Depth-Anywhere) |
| Elite360D: Towards Efficient 360 Depth Estimation via Semantic- and Distance-Aware Bi-Projection Fusion | CVPR | 2024 | [[PDF]](https://arxiv.org/pdf/2403.16376) [[CODE]](https://github.com/haoai-1997/Elite360D) |
| Revisiting 360 Depth Estimation with PanoGabor: A New Fusion Perspective | arXiv | 2024 | [[PDF]](https://arxiv.org/pdf/2408.16227) [[CODE]](https://github.com/zhijieshen-bjtu/PGFuse) |
| MS360: A Multi-Scale Feature Fusion Framework for 360 Monocular Depth Estimation | ACM | 2024 | [[PDF]](https://dl.acm.org/doi/pdf/10.1145/3670947.3670955) |
| CUBE360: Learning Cubic Field Representation for Monocular 360 Depth Estimation for Virtual Reality | arXiv | 2024 | [[PDF]](https://arxiv.org/pdf/2410.05735) |
| 360$^{\circ}$ High-Resolution Depth Estimation via Uncertainty-aware Structural Knowledge Transfer | IEEE | 2024 | [[PDF]](https://arxiv.org/pdf/2304.07967) |
| Diffusion Models for Monocular Depth Estimation: Overcoming Challenging Conditions [^1] | ECCV | 2024 | [[PDF]](https://raw.githubusercontent.com/fabiotosi92/Diffusion4RobustDepth/main/assets/main.pdf) [[CODE]](https://github.com/fabiotosi92/Diffusion4RobustDepth) |
| SGFormer: Spherical Geometry Transformer for $360^{\circ}$ Depth Estimation | arXiv | 2024 | [[PDF]](https://arxiv.org/pdf/2404.14979) [[CODE]](https://github.com/iuiuJaon/SGFormer) |
| PanoDthNet: Depth Estimation Based on Indoor and Outdoor Panoramic Images | PRCV | 2024 | [[LINK]](https://link.springer.com/chapter/10.1007/978-981-97-8502-5_4) |
| CRF360D: Monocular 360 Depth Estimation via Spherical Fully-Connected CRFs | IEEE | 2024 | [[PDF]](https://arxiv.org/pdf/2405.11564) [[CODE]](https://github.com/caozidong/CRF360D) |
| BGDNet: Background-guided Indoor Panorama Depth Estimation | IEEE | 2024 | [[PDF]](https://openaccess.thecvf.com/content/CVPR2024W/OmniCV2024/papers/Chen_BGDNet_Background-guided_Indoor_Panorama_Depth_Estimation_CVPRW_2024_paper.pdf) |
| Geometry-Aware Self-Supervised Indoor $360^{o}$ Depth Estimation via Asymmetric Dual-Domain Collaborative Learning | IEEE | 2025 | [[LINK]](https://ieeexplore.ieee.org/document/10855624) |
| DA $^{2}$: Depth Anything in Any Direction | arXiv | 2025 | [[PDF]](https://arxiv.org/pdf/2509.26618) [[CODE]](https://github.com/EnVision-Research/DA-2) |
| ImmersiveDepth: A Hybrid Approach for Monocular Depth Estimation from 360 Images Using Tangent Projection and Multi-Model Integration | IEEE | 2025 | [[PDF]](https://eprints.bournemouth.ac.uk/41147/1/ImmersiveDepth%28Final%29.pdf) |
| RPG360: Robust 360 Depth Estimation with Perspective Foundation Models and Graph Optimization | NeurIPS | 2025 | [[PDF]](https://arxiv.org/pdf/2509.23991) [[CODE]](https://github.com/jdk9405/RPG360) |
| CAPDepth: 360 Monocular Depth Estimation by Content-Aware Projection | MDPI | 2025 | [[PDF]](https://www.mdpi.com/2076-3417/15/2/769) |
| OmniDiffusion: Reformulating 360 Monocular Depth Estimation Using Semantic and Surface Normal Conditioned Diffusion | IEEE | 2025 | [[PDF]](https://openaccess.thecvf.com/content/WACV2025/papers/Mohadikar_OmniDiffusion_Reformulating_360_Monocular_Depth_Estimation_using_Semantic_and_Surface_WACV_2025_paper.pdf) |
| PanDA : Towards Panoramic Depth Anything with Unlabeled Panoramas and Mobius Spatial Augmentation | CVPR | 2025 | [[PDF]](https://arxiv.org/pdf/2406.13378v2) [[CODE]](https://github.com/caozidong/PanDA) |
| SN360: Semantic and Surface Normal Cascaded Multi-Task 360 Monocular Depth Estimation | IEEE | 2025 | [[LINK]](https://ieeexplore.ieee.org/document/11084791) |
| ST $^{2}$ 360D: Spatial-to-Temporal Consistency for Training-free 360 Monocular Depth Estimation | NeurIPS | 2025 | [[PDF]](https://openreview.net/pdf/c804490abc2c869fac921489b7af78321d9b0ac0.pdf) |
| Depth Any Camera: Zero-Shot Metric Depth Estimation from Any Camera | CVPR | 2025 | [[PDF]](https://arxiv.org/pdf/2501.02464) [[CODE]](https://github.com/yuliangguo/depth_any_camera) |

### Multiple 360 Images

| Title | Venue | Year | Resources |
| :---- | :---- | :--- | :-------- |
| Spherical View Synthesis for Self-Supervised 360 Depth Estimation | 3DV | 2019 | [[PDF]](https://arxiv.org/pdf/1909.08112.pdf) [[CODE]](https://github.com/VCL3D/SphericalViewSynthesis) |
| $360^{\circ}$ Depth Estimation from Multiple Fisheye Images with Origami Crown Representation of Icosahedron | IROS | 2020 | [[PDF]](https://arxiv.org/pdf/2007.06891.pdf) [[CODE]](https://github.com/matsuren/crownconv360depth) |
| MODE: Multi-view Omnidirectional Depth Estimation with $360^{\circ}$ Cameras | ECCV | 2022 | [[PDF]](https://link.springer.com/chapter/10.1007/978-3-031-19827-4_12) [[CODE]](https://github.com/nju-ee/MODE-2022) |
| Semi-Supervised 360° Depth Estimation from Multiple Fisheye Cameras with Pixel-Level Selective Loss | ICASSP | 2022 | [[PDF]](https://link.springer.com/chapter/10.1007/978-3-031-19827-4_12) [[CODE]](https://github.com/nju-ee/MODE-2022) |
| Dense Depth Estimation from Multiple 360-degree Images Using Virtual Depth | Springer | 2022 | [[PDF]](https://arxiv.org/pdf/2112.14931.pdf) [[CODE]](https://github.com/vcl-seoultech/360Depth) |
| SDGE: Stereo Guided Depth Estimation for $360^{\circ}$ Camera Sets | IEEE | 2024 | [[PDF]](https://arxiv.org/pdf/2402.11791) [[CODE]](https://github.com/JialeiXu/SGDE) |
| Robust and Flexible Omnidirectional Depth Estimation with Multiple 360-degree Cameras | Wiley | 2025 | [[LINK]](https://ietresearch.onlinelibrary.wiley.com/doi/full/10.1049/ipr2.70217) |

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[^1]: These are general depth estimation algorithms which work well for 360 images as well.

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