Awesome 360 Depth Estimation

Last Updated: Jan 12, 2026

Table of Contents

• Papers
  • Single 360 Image
    • 2018-2020: Early Methods
    • 2021-2022: Fusion & Transformer Era
    • 2023-2025: Recent Advances
  • 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] [CODE]
360D: A dataset and baseline for dense depth estimation from 360 images	ECCV	2018	[PDF]
HoHoNet: 360 Indoor Holistic Understanding with Latent Horizontal Features	CVPR	2020	[PDF] [CODE]
Deep Depth Estimation on $360^{\circ}$ Images with a Double Quaternion Loss	3DV	2020	[PDF]
Geometric Structure Based and Regularized Depth Estimation From 360 Indoor Imagery	CVPR	2020	[PDF]
Foreground-aware dense depth estimation for 360 images	WSCG	2020	[PDF]
BiFuse: Monocular 360 Depth Estimation via Bi-Projection Fusion	CVPR	2020	[PDF] [CODE]
PADENet: An Efficient and Robust Panoramic Monocular Depth Estimation Network for Outdoor Scenes	IEEE	2020	[PDF] [CODE]

2021-2022: Fusion & Transformer Era

Title	Venue	Year	Resources
UniFuse: Unidirectional Fusion for 360 Panorama Depth Estimation	CVPR	2021	[PDF] [CODE]
Deep Learning-based High-precision Depth Map Estimation from Missing Viewpoints for 360 Degree Digital Holography	MDPI	2021	[PDF]
Depth Estimation from a Single Omnidirectional Image using Domain Adaptation	ACM	2021	[PDF]
Pano3D: A Holistic Benchmark and a Solid Baseline for $360^{\circ}$ Depth Estimation	CVPR	2021	[PDF] [CODE]
SliceNet: deep dense depth estimation from a single indoor panorama using a slice-based representation	CVPR	2021	[PDF] [CODE]
Improving 360◦ Monocular Depth Estimation via Non-local Dense Prediction Transformer and Joint Supervised and Self-supervised Learning	AAAI	2022	[PDF] [CODE]
Depth360: Monocular Depth Estimation using Learnable Axisymmetric Camera Model for Spherical Camera Image	IROS	2022	[PDF]
ACDNet: Adaptively Combined Dilated Convolution for Monocular Panorama Depth Estimation	AAAI	2022	[PDF] [CODE]
Rethinking Supervised Depth Estimation for $360^{\circ}$ Panoramic Imagery	CVF	2022	[PDF]
HiMODE: A Hybrid Monocular Omnidirectional Depth Estimation Model	CVF	2022	[PDF] [CODE]
Neural Contourlet Network for Monocular $360^{\circ}$ Depth Estimation	IEEE TCSVT	2022	[PDF] [CODE]
GLPanoDepth: Global-to-Local Panoramic Depth Estimation	IEEE TIP	2022	[PDF] [CODE]
360 Depth Estimation in the Wild -- the Depth360 Dataset and the SegFuse Network	CVPR	2022	[PDF] [CODE]
BiFuse++: Self-supervised and Efficient Bi-projection Fusion for $360^{\circ}$ Depth Estimation	3D Research	2022	[PDF] [CODE]
PanoFormer: Panorama Transformer for Indoor $360^{\circ}$ Depth Estimation	CVPR/ECCV	2022	[PDF] [CODE]
OmniFusion: 360 Monocular Depth Estimation via Geometry Aware Fusion	CVPR	2022	[PDF] [CODE]
SphereDepth: Panorama Depth Estimation from Spherical Domain	CVPR	2022	[PDF] [CODE]
360MonoDepth: High-Resolution $360^{\circ}$ Monocular Depth Estimation	CVPR	2022	[PDF] [CODE]
Distortion-Aware Self-Supervised $360^{\circ}$ Depth Estimation from A Single Equirectangular Projection Image	IEEE	2022	[PDF]
Learning high-quality depth map from $360^{\circ}$ multi-exposure imagery	Springer	2022	[LINK]

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]
High-Resolution Depth Estimation for 360-degree Panoramas through Perspective and Panoramic Depth Images Registration	WACV	2023	[PDF]
HRDFuse: Monocular 360$^{\circ}$ Depth Estimation by Collaboratively Learning Holistic-with-Regional Depth Distributions	CVF	2023	[PDF] [CODE]
$\mathcal{S}^2$ Net: Accurate Panorama Depth Estimation on Spherical Surface	CVPR	2023	[PDF] [CODE]
ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depth 1	arXiv	2023	[PDF] [CODE]
EGformer: Equirectangular Geometry-biased Transformer for 360 Depth Estimation	ICCV	2023	[PDF] [CODE]
FreDSNet: Joint Monocular Depth and Semantic Segmentation with Fast Fourier Convolutions	ICRA	2023	[PDF] [CODE]
Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data 1	CVPR	2024	[PDF] [CODE]
Depth Anywhere: Enhancing 360 Monocular Depth Estimation via Perspective Distillation and Unlabeled Data Augmentation	NeurIPS	2024	[PDF] [CODE]
Elite360D: Towards Efficient 360 Depth Estimation via Semantic- and Distance-Aware Bi-Projection Fusion	CVPR	2024	[PDF] [CODE]
Revisiting 360 Depth Estimation with PanoGabor: A New Fusion Perspective	arXiv	2024	[PDF] [CODE]
MS360: A Multi-Scale Feature Fusion Framework for 360 Monocular Depth Estimation	ACM	2024	[PDF]
CUBE360: Learning Cubic Field Representation for Monocular 360 Depth Estimation for Virtual Reality	arXiv	2024	[PDF]
360$^{\circ}$ High-Resolution Depth Estimation via Uncertainty-aware Structural Knowledge Transfer	IEEE	2024	[PDF]
Diffusion Models for Monocular Depth Estimation: Overcoming Challenging Conditions 1	ECCV	2024	[PDF] [CODE]
SGFormer: Spherical Geometry Transformer for $360^{\circ}$ Depth Estimation	arXiv	2024	[PDF] [CODE]
PanoDthNet: Depth Estimation Based on Indoor and Outdoor Panoramic Images	PRCV	2024	[LINK]
CRF360D: Monocular 360 Depth Estimation via Spherical Fully-Connected CRFs	IEEE	2024	[PDF] [CODE]
BGDNet: Background-guided Indoor Panorama Depth Estimation	IEEE	2024	[PDF]
Geometry-Aware Self-Supervised Indoor $360^{o}$ Depth Estimation via Asymmetric Dual-Domain Collaborative Learning	IEEE	2025	[LINK]
DA $^{2}$: Depth Anything in Any Direction	arXiv	2025	[PDF] [CODE]
ImmersiveDepth: A Hybrid Approach for Monocular Depth Estimation from 360 Images Using Tangent Projection and Multi-Model Integration	IEEE	2025	[PDF]
RPG360: Robust 360 Depth Estimation with Perspective Foundation Models and Graph Optimization	NeurIPS	2025	[PDF] [CODE]
CAPDepth: 360 Monocular Depth Estimation by Content-Aware Projection	MDPI	2025	[PDF]
OmniDiffusion: Reformulating 360 Monocular Depth Estimation Using Semantic and Surface Normal Conditioned Diffusion	IEEE	2025	[PDF]
PanDA : Towards Panoramic Depth Anything with Unlabeled Panoramas and Mobius Spatial Augmentation	CVPR	2025	[PDF] [CODE]
SN360: Semantic and Surface Normal Cascaded Multi-Task 360 Monocular Depth Estimation	IEEE	2025	[LINK]
ST $^{2}$ 360D: Spatial-to-Temporal Consistency for Training-free 360 Monocular Depth Estimation	NeurIPS	2025	[PDF]
Depth Any Camera: Zero-Shot Metric Depth Estimation from Any Camera	CVPR	2025	[PDF] [CODE]

Multiple 360 Images

Title	Venue	Year	Resources
Spherical View Synthesis for Self-Supervised 360 Depth Estimation	3DV	2019	[PDF] [CODE]
$360^{\circ}$ Depth Estimation from Multiple Fisheye Images with Origami Crown Representation of Icosahedron	IROS	2020	[PDF] [CODE]
MODE: Multi-view Omnidirectional Depth Estimation with $360^{\circ}$ Cameras	ECCV	2022	[PDF] [CODE]
Semi-Supervised 360° Depth Estimation from Multiple Fisheye Cameras with Pixel-Level Selective Loss	ICASSP	2022	[PDF] [CODE]
Dense Depth Estimation from Multiple 360-degree Images Using Virtual Depth	Springer	2022	[PDF] [CODE]
SDGE: Stereo Guided Depth Estimation for $360^{\circ}$ Camera Sets	IEEE	2024	[PDF] [CODE]
Robust and Flexible Omnidirectional Depth Estimation with Multiple 360-degree Cameras	Wiley	2025	[LINK]

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Footnotes

1. These are general depth estimation algorithms which work well for 360 images as well. ↩ ↩² ↩³