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The world faces an infrastructure deficit of $2 trillion annually over the next 20 years, according to a recent World Economic Forum report.

The forum analyzed the four largest infrastructure markets — Brazil, China, India and the United States — and determined the public sector's role is vital in correcting the deficit. Investments in infrastructure can reap societal and economic benefits that accrue over a long period of time, according to the report.

Infrastructure development is most successful where the public sector has a clear development plan and the plan is coordinated at the highest levels, according to the forum.

The report shows that the most successful infrastructure projects exist where the private sector has been involved through the full lifecycle of a project in public-private partnerships.