diff --git a/modelscope/outputs/outputs.py b/modelscope/outputs/outputs.py
index 30361b5d..b9ee0239 100644
--- a/modelscope/outputs/outputs.py
+++ b/modelscope/outputs/outputs.py
@@ -20,6 +20,7 @@ class OutputKeys(object):
     KEYPOINTS = 'keypoints'
     MASKS = 'masks'
     DEPTHS = 'depths'
+    DEPTHS_COLOR = 'depths_color'
     TEXT = 'text'
     POLYGONS = 'polygons'
     OUTPUT = 'output'
diff --git a/modelscope/pipelines/cv/image_depth_estimation_pipeline.py b/modelscope/pipelines/cv/image_depth_estimation_pipeline.py
index 1f580733..a5445692 100644
--- a/modelscope/pipelines/cv/image_depth_estimation_pipeline.py
+++ b/modelscope/pipelines/cv/image_depth_estimation_pipeline.py
@@ -12,6 +12,7 @@ from modelscope.pipelines.base import Input, Model, Pipeline
 from modelscope.pipelines.builder import PIPELINES
 from modelscope.preprocessors import LoadImage
 from modelscope.utils.constant import Tasks
+from modelscope.utils.cv.image_utils import depth_to_color
 from modelscope.utils.logger import get_logger
 
 logger = get_logger()
@@ -50,6 +51,10 @@ class ImageDepthEstimationPipeline(Pipeline):
         depths = results[OutputKeys.DEPTHS]
         if isinstance(depths, torch.Tensor):
             depths = depths.detach().cpu().squeeze().numpy()
-        outputs = {OutputKeys.DEPTHS: depths}
+        depths_color = depth_to_color(depths)
+        outputs = {
+            OutputKeys.DEPTHS: depths,
+            OutputKeys.DEPTHS_COLOR: depths_color
+        }
 
         return outputs
diff --git a/tests/pipelines/test_image_depth_estimation.py b/tests/pipelines/test_image_depth_estimation.py
index 933ce7a0..6ec16a64 100644
--- a/tests/pipelines/test_image_depth_estimation.py
+++ b/tests/pipelines/test_image_depth_estimation.py
@@ -24,9 +24,8 @@ class ImageDepthEstimationTest(unittest.TestCase, DemoCompatibilityCheck):
         input_location = 'data/test/images/image_depth_estimation.jpg'
         estimator = pipeline(Tasks.image_depth_estimation, model=self.model_id)
         result = estimator(input_location)
-        depths = result[OutputKeys.DEPTHS]
-        depth_viz = depth_to_color(depths)
-        cv2.imwrite('result.jpg', depth_viz)
+        depth_vis = result[OutputKeys.DEPTHS_COLOR]
+        cv2.imwrite('result.jpg', depth_vis)
 
         print('test_image_depth_estimation DONE')