6d.ai uses depthnets in its mobile photogrammetry pipeline. demo: https://twitter.com/mattmiesnieks/status/1106722396889702406
I'm very familiar with their work (they're doing a great job), but the demo video you linked appears to be a photogrammetric-based approach. You can tell because highly-textured surfaces are readily mapped, but low-texture regions remain unmapped, despite high coverage by the camera.
Maybe they use learned features for things like persistent AR, but I'm quite certain that they do not use deep learning to predict depth maps ab initio.