Harnessing SPAD Noise: Test-Time Gated Attention for Indoor Depth Estimation

Monocular depth estimation (MDE) has emerged as a cost-effective alternative to hardware-dependent 3D sensing modalities, yet predicting precise metric depth remains a persistent challenge due to intrinsic scale ambiguity, edge bleeding, and limited zero-shot generalization in unseen environments. Recent multi-modal approaches incorporate 1D/3D Single-Photon Avalanche Diode (SPAD) data to resolve these ambiguities, but they mainly treat SPAD noise as a harmful artifact required for denoising or leave the noise ignored.

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