Abstract: A depth completion method of sparse depth map includes: acquiring a grayscale image and a sparse depth map corresponding to the grayscale image; obtaining a nearest neighbor interpolation (NNI) image and a Euclidean distance transform (EDT) image based on the sparse depth map; inputting the grayscale image, the NNI image, and the EDT image into a neural network model, thereby outputting a predicted residual map; and generating a predicted dense depth map according to the predicted residual map and the NNI image.