Amodal Depth Anything: Amodal Depth Estimation in the Wild

Amodal depth estimation aims to predict the depth of occluded (invisible) parts of objects in a scene. This task addresses the question of whether models can effectively perceive the geometry of occluded regions based on visible cues. Prior methods primarily rely on synthetic datasets and focus on metric depth estimation, limiting their generalization to real-world settings due to domain shifts and scalability challenges. In this paper, we propose a novel formulation of amodal depth estimation in the wild, focusing on relative depth prediction to improve model generalization across diverse natural images. We introduce a new large-scale dataset, Amodal Depth In the Wild (ADIW), created using a scalable pipeline that leverages segmentation datasets and compositing techniques. Depth maps are generated using large pre-trained depth models, and a scale-and-shift alignment strategy is employed to refine and blend depth predictions, ensuring consistency in ground-truth annotations. To tackle the amodal depth task, we present two complementary frameworks: Amodal-DAV2, a deterministic model based on Depth Anything V2, and AmodalDepthFM, a generative model that integrates conditional flow matching principles. Our proposed frameworks effectively leverage the capabilities of large pre-trained models with minimal modifications to achieve high-quality amodal depth predictions (Fig. 1). Experiments validate our design choices, demonstrating the flexibility of our models in generating diverse, plausible depth structures for occluded regions. Our method achieves a 50.7% improvement in RMSE over the previous SoTA on the ADIW dataset.