venkatsubra/ZEDD

The official implementation is available on GitHub.

Zero-Shot Depth from Defocus

Yiming Zuo* · Hongyu Wen* · Venkat Subramanian* · Patrick Chen · Karhan Kayan · Mario Bijelic · Felix Heide · Jia Deng

(*Equal Contribution)

Princeton Vision & Learning Lab (PVL)

Paper · Project

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Overview

We captured 100 focus stacks in 100 unique scenes, covering various indoor and outdoor locations, such as classrooms, hallways, robotics labs, offices, kitchens, and gardens, providing a diverse scene coverage.

For each focus stack, we capture images at 9 focus distances, ranging from 0.82 to 8.10m. We capture at 5 larger apertures (F1.4/2.0/2.8/4.0/5.6), and a small aperture (F16) for all-in-focus images, resulting in 6 x 9=54 images in total for each scene. This rich combination of focus distances and apertures allows us to study the sensitivity of the models' performance to each factor.

We provide a dense ground-truth depth map for each scene under the resolution of 1824 x 1216, captured with a high-accuracy Lidar.

— Paper (arXiv)

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Data Structure

ZEDD contains 100 scenes divided into validation and test sets. For each scene, the data is organized as follows:

ZEDD/
├── test/
│   ├── test_0001/
│   │   ├── focus_stack/
│   │   │   ├── img_run_1_motor_6D3E_aperture_F1.4.jpg
│   │   │   ├── img_run_1_motor_6D3E_aperture_F2.0.jpg
│   │   │   └── ...
│   │   └── gt/
│   │       └── K.txt
│   └── ...
└── val/
    ├── val_0001/
    │   ├── focus_stack/
    │   │   ├── img_run_1_motor_6D3E_aperture_F1.4.jpg
    │   │   ├── img_run_1_motor_6D3E_aperture_F2.0.jpg
    │   │   └── ...
    │   └── gt/
    │       ├── depth_vis.jpg
    │       ├── depth.npy
    │       ├── K.txt
    │       └── overlay.jpg
    └── ...

Citation

@article{ZeroShotDepthFromDefocus,
  author  = {Zuo, Yiming and Wen, Hongyu and Subramanian, Venkat and Chen, Patrick and Kayan, Karhan and Bijelic, Mario and Heide, Felix and Deng, Jia},
  title   = {Zero-Shot Depth from Defocus},
  journal = {arXiv preprint arXiv:2603.26658},
  year    = {2026},
  url     = {https://arxiv.org/abs/2603.26658}
}