The DOI matches its Crossref record; 57 of the 59 references it cites were found in a registry or an index; none of the 18 sources its claims cite is checked for support yet.
3D Packing for Self-Supervised Monocular Depth Estimation
Open accessAbstract
Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep network, PackNet, learned only from unlabeled monocular videos. Our architecture leverages novel symmetrical packing and unpacking blocks to jointly learn to compress and decompress detail-preserving representations using 3D convolutions. Although self-supervised, our method outperforms other self, semi, and fully supervised methods on the KITTI benchmark. The 3D inductive bias in PackNet enables it to scale with input resolution and number of parameters without overfitting, generalizing better on out-of-domain data such as the NuScenes dataset. Furthermore, it does not require large-scale supervised pretraining on ImageNet and can run in real-time. Finally, we release DDAD (Dense Depth for Automated Driving), a new urban driving dataset with more challenging and accurate depth evaluation, thanks to longer-range and denser ground-truth depth generated from high-density LiDARs mounted on a fleet of self-driving cars operating world-wide.
Overview
AI snapshot
Written from the paper’s full text.
TL;DR
PackNet is a self-supervised monocular depth architecture using symmetrical 3D packing/unpacking blocks, trained on unlabeled monocular videos, optionally with velocity supervision for metric scale. It reports state-of-the-art KITTI results, better generalization on NuScenes, real-time inference, and releases the DDAD dataset for long-range dense depth evaluation.
Key findings
- On DDAD, PackNet-SfM achieves Abs Rel 0.162, Sq Rel 3.917, RMSE 13.452, RMSE log 0.269, and δ<1.25 0.823, outperforming Monodepth2 (R18) at Abs Rel 0.381 and RMSE 21.277; the gap increases at longer ranges up to 200m.
- On NuScenes generalization without fine-tuning, PackNet reaches Abs Rel 0.187, Sq Rel 1.852, RMSE 7.636, RMSE log 0.289, and δ<1.25 0.742, better than ResNet50 (Abs Rel 0.216, RMSE 8.477) and ResNet50‡ (Abs Rel 0.210, RMSE 8.111).
- Ablation on KITTI at 640×192 shows PackNet with D=8 3D filters reaches Abs Rel 0.111, Sq Rel 0.785, RMSE 4.601, RMSE log 0.189, and δ<1.25 0.878, improving over no pack/unpack (Abs Rel 0.121, RMSE 4.831).
- PackNet reaches about 128M parameters with 60ms inference on a Titan V100, improvable to <30ms with TensorRT; a packing/unpacking reconstruction test achieves loss 0.0079 versus 0.063 for max-pooling/bilinear upsampling.
Methods
- Self-supervised monocular SfM jointly trains a depth network and pose network on unlabeled monocular videos using a photometric loss (SSIM + L1), minimum over source images, auto-masking, and edge-aware depth smoothness; an optional velocity supervision loss aligns pose-translation magnitude with measured velocity to resolve scale ambiguity.
- PackNet is a symmetrical encoder-decoder with packing blocks (Space2Depth, 3D convolution expansion, 2D contraction) and unpacking blocks (2D convolution, 3D convolution, Depth2Space), plus skip connections and multiple inverse-depth outputs.
- Training uses KITTI (39,810 train, 4,424 validation, 697 evaluation; improved ground truth 652 maps), DDAD (17,050 train and 4,150 evaluation frames, Luminar-H2, up to 200m), NuScenes (6,019 front-facing validation images), and CityScapes (88,250 training images) for pretraining; PyTorch on 8 Titan V100 GPUs, Adam, 100 epochs, batch size 4, depth LR 2e-4, pose LR 5e-4, α=0.85, λ1=0.001, λ2=0.05.
Limitations
- The paper states monocular SfM is inherently scale-ambiguous; metric scale requires velocity supervision at training time, otherwise test-time LiDAR ground-truth scaling is needed.
- The paper states DDAD experiments use only the front-facing camera, and that packing/unpacking do not ensure invertibility.
- No explicit limitations section is provided; evident constraints include KITTI evaluation up to 80m and DDAD up to 200m, and pose results are deferred to supplementary material due to space.
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27 Own result · 14 Not checked yet · 13 No basis given · 12 Own interpretation
A result the paper reports from its own data — it cites no other source for it, so there is none to check. The quote shows it is in the paper.
In the paper
“iii) generalizes better on unseen data;”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 1. Introduction
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In the paper
“ii) is competitive with fully supervised methods;”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 1. Introduction
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“While recent works in self-supervised monocular depth estimation have mostly focused on engineering the loss function [6,34,48,54], we show that performance critically depends on the model architecture, in line with the observations of [28] for other self-supervised tasks.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 1. Introduction
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- Not checked yetcites [28] source
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In the paper
“v) can run in real time at high resolution;”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 1. Introduction
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“Our experiments on the standard KITTI benchmark [17], the recent NuScenes dataset [5], and our new proposed DDAD benchmark show that our self-supervised monocular approach i) improves on the state of the art, especially at longer ranges;”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 1. Introduction
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In the paper
“vi) does not require supervised pretraining on ImageNet to achieve state-of-the-art results;”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 1. Introduction
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In the paper
“or test-time ground-truth scaling if velocity information is available at training time.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 1. Introduction
plaindirect- Asserted: passes — The authors put it forward as true.
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- Rests on an assumption: Instantaneous velocity measurements are ubiquitous in most mobile systems today.
A result the paper reports from its own data — it cites no other source for it, so there is none to check. The quote shows it is in the paper.
In the paper
“Finally, we release DDAD (Dense Depth for Automated Driving), a new urban driving dataset with more challenging and accurate depth evaluation, thanks to longer-range and denser ground-truth depth generated from high-density LiDARs mounted on a fleet of self-driving cars operating world-wide.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > Abstract
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In the paper
“especially as more 3D convolutional filters are added”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 5.6. Ablation Studies
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“Furthermore, we show that by simply introducing an additional source of unlabeled videos, such as the publicly available CityScapes dataset (CS+K) [9], we are able to further improve monocular depth estimation performance.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 5.3. Depth Estimation Performance
What the sources say
- Not checked yetcites [9] source
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In the paper
“iv) scales better with number of parameters, input resolution, and more unlabeled training data;”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 1. Introduction
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In the paper
“Additionally, by leveraging during training only weak velocity information, we are able to make our model scale-aware, i.e. producing metrically accurate depth maps from a single image.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 6. Conclusion
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In the paper
“Although purely trained on unlabeled monocular videos, our approach outperforms other existing selfand semi-supervised methods and is even competitive with fully-supervised methods while able to run in real-time.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 6. Conclusion
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“As indicated by Pillai et al. [39], we also observe an improvement in performance at higher image resolutions, which we attribute to the proposed network's ability to properly preserve and process spatial information end-to-end.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 5.3. Depth Estimation Performance
What the sources say
- Not checked yetcites [39]
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In the paper
“This new dataset is a more realistic and challenging benchmark for depth estimation, as it is diverse and captures precise structure across images (30k points per frame) at longer ranges (up to 200m vs 80m for previous datasets).”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > DDAD (Dense Depth for Automated Driving).
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In the paper
“and further improves as more complexity is added”
- Also stated in: § Input image · boosted
“improves significantly with more parameters in both cases without overfitting.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 5.5. Network Complexity
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- Also stated in: § Input image · boosted
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In the paper
“The ATE results are summarized in Table 6, with our proposed framework achieving competitive results relative to other related methods.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > A. Pose evaluation
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In the paper
“We use the architecture proposed by [53] without the explainability mask, which we found not to improve results.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > Depth Network.
What the sources say
- Not checked yetcites [53] source
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In the paper
“It includes a highresolution, long-range Luminar-H2foot_0 as the LiDAR sensor used to generate pointclouds, with a maximum range of 250m and sub-1cm range precision.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > B. Dense Depth for Automated Driving (DDAD)
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In the paper
“It contains 17,050 training and 4,150 evaluation frames with ground-truth depth maps generated from dense LiDAR measurements using the Luminar-H2 sensor.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > DDAD (Dense Depth for Automated Driving).
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In the paper
“and can be further improved by self-supervised pretraining on other datasets”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 5.6. Ablation Studies
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In the paper
“Our best results are achieved when injecting both more unlabeled data at training time and processing higher resolution input images, achieving performance comparable to semisupervised [29] and fully supervised [15] methods.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 5.3. Depth Estimation Performance
What the sources say
- Not checked yetcites [29]
- Not checked yetcites [15]
plaindirect- Asserted: passes — The authors put it forward as true.
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In the paper
“the proposed architecture (Table 1) reaches around 128M parameters with an inference time of 60ms on a Titan V100 GPU”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 5.5. Network Complexity
hedged- Asserted: passes — The authors put it forward as true.
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In the paper
“From these results we can see that our PackNet-SfM approach significantly outperforms the state-of-the-art [19], based on the ResNet family, the performance gap consistently increasing when larger distances are considered.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 5.3. Depth Estimation Performance
What the sources say
- Not checked yetcites [19]
plaindirect- Asserted: passes — The authors put it forward as true.
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A result the paper reports from its own data — it cites no other source for it, so there is none to check. The quote shows it is in the paper.
In the paper
“DDAD is a cross-continental dataset with scenes drawn from urban settings in the United States (San Francisco Bay Area, Detroit and Ann Arbor) and Japan (Tokyo and Odaiba).”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > B. Dense Depth for Automated Driving (DDAD)
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Probably not a substantial claim. The paper’s conclusions may not depend on it. It may state two separate claims as one.
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In the paper
“Additionally, it contains six calibrated cameras time-synchronized at 10 Hz, that together produce a 360 • coverage around the vehicle.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > B. Dense Depth for Automated Driving (DDAD)
plaindirect- Asserted: passes — The authors put it forward as true.
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Probably not a substantial claim. The paper’s conclusions may not depend on it. It may state two separate claims as one.
The paper states this without a source or data behind it here, so there is nothing to check it against. The quote shows it is in the paper.
In the paper
“Note that in the case of monocular SfM both depth and pose are estimated up to an unknown scale factor, due to the inherent ambiguity of the photometric loss.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 3. Self-Supervised Scale-Aware SfM
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In the paper
“This additional velocity loss allows the pose network to make metrically accurate predictions, subsequently resulting in the depth network also learning metrically accurate estimates to maintain consistency (cf.Section 5.4).”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > Velocity Supervision Loss.
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It may state two separate claims as one.
- Rests on an assumption: Instantaneous velocity measurements are ubiquitous in most mobile systems today.
A conclusion the paper draws from its own results — it cites no other source for it, so there is none to check. The quote shows it is in the paper.
In the paper
“as evidence that it does not simply memorize training data but learns transferable discriminative features.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 5.7. Generalization Capability
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A conclusion the paper draws from its own results — it cites no other source for it, so there is none to check. The quote shows it is in the paper.
In the paper
“The 3D inductive bias in PackNet enables it to scale with input resolution and number of parameters without overfitting, generalizing better on out-of-domain data such as the NuScenes dataset.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > Abstract
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None of the sources cited for this claim have been checked yet.
In the paper
“As mentioned in [15,19], ResNet architectures highly benefit from ImageNet pretraining, since they were originally developed for classification tasks.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 5.6. Ablation Studies
What the sources say
- Not checked yetcites [15]
- Not checked yetcites [19]
boosteddirect- Asserted: passes — The authors put it forward as true.
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Probably not a substantial claim. The paper’s conclusions may not depend on it.
The paper relies on this without support.
Instantaneous velocity measurements are ubiquitous in most mobile systems today.
“Since instantaneous velocity measurements are ubiquitous in most mobile systems today, we show that they can be directly incorporated in our self-supervised objective to learn a metrically accurate and scale-aware monocular depth estimator.”
The paper relies on this without support.
The same pixel will not be occluded or out-of-bounds in all context images, and the association with minimal photometric loss is correct.
“The intuition is that the same pixel will not be occluded or out-of-bounds in all context images, and that the association with minimal photometric loss should be the correct one.”
The paper relies on this without support.
Depth maps made by projecting LiDAR pointclouds onto the camera frame are accurate enough to serve as ground truth for evaluating monocular depth estimation.
“The depth maps generated from projecting these Luminar pointclouds onto the camera frame allow us to evaluate depth estimation methods in a much more challenging way, both in terms of denseness and longer ranges.”
“At test-time, all monocular methods (M) scale estimated depths with median ground-truth LiDAR information.”
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
The cited source says what the claim attributes to it.
In the citing paper
“some methods incorporate more 3D computations into our object detection pipeline by applying a 3D reconstruction method like [4, 5, 6] to create a pseudo-LiDAR or range input of the scene from camera images.”
From DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queries (2021) · cites this paper as [6]
In the citing paper
“The dataset provides semantic segmentation labels only for the validation and test (non-public) sets, significantly restricting its use-case.”
From Multimodal semantic segmentation in autonomous driving: A review of current approaches and future perspectives (2022) · cites this paper as [82]
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
Each contradiction between two passages listed here was confirmed by an independent check.
Rated minor: it would not touch a result — a value no result rests on, a p-value that stays on the same side of the significance level, or a conflict that is clerical, resolved elsewhere in the paper, or outside its own findings.
In the paper
§ 3D Packing for Self-Supervised Monocular Depth Estimation > 5.2. Implementation Details
“We use PyTorch [38] with all models trained across 8 Titan V100 GPUs.”
§ 3D Packing for Self-Supervised Monocular Depth Estimation > References
“38. Jeff Michels, Ashutosh Saxena, and Andrew Y Ng. High speed obstacle avoidance using monocular vision and rein- forcement learning.”
Citations
Cites
Deep Residual Learning for Image Recognition
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Adam: A Method for Stochastic Optimization
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ImageNet: A large-scale hierarchical image database
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Image quality assessment: from error visibility to structural similarity
Wang, Z., Bovik, A. C., Sheikh, H. R., & Simoncelli, E. P. (2004) · IEEE Transactions on Image Processing · doi:10.1109/tip.2003.819861 · Cited by 57,892
Fully convolutional networks for semantic segmentation
Long, J., Shelhamer, E., & Darrell, T. (2015) · 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr.2015.7298965 · Cited by 38,834
(2014) · Cited by 33,419
The Cityscapes Dataset for Semantic Urban Scene Understanding
Cordts, M., Omran, M., Ramos, S., Rehfeld, T., Enzweiler, M., Benenson, R., Franke, U., Roth, S., & Schiele, B. (2016) · 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr.2016.350 · Cited by 12,433
(2017) · Cited by 11,625
Image Super-Resolution Using Deep Convolutional Networks
Dong, C., Loy, C. C., He, K., & Tang, X. (2016) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2015.2439281 · Cited by 10,105
Vision meets robotics: The KITTI dataset
Geiger, A., Lenz, P., Stiller, C., & Urtasun, R. (2013) · The International Journal of Robotics Research · doi:10.1177/0278364913491297 · Cited by 9,913
Research works printed but not linked: 2
- kingma, 0, Glow: Generative flow with invertible 1×1 convolutions, Advances in neural information processing systems
- graham, 2015, Fractional Max-Pooling
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Items 501–600 of 739
DMS: Diffusion-Based Multi-Baseline Stereo Generation for Improving Self-Supervised Depth Estimation
Liu, Z., Li, Y., Zhang, S., & Okutomi, M. (2025) · IEEE International Conference on Computer Vision Workshops · doi:10.1109/iccvw69036.2025.00580 · Cited by 2
Yang, Z., Cheng, A., Zhu, H., Li, T., Tao, P. Y., & Mao, K. (2025) · IEEE/CVF International Conference on Computer Vision (ICCV) · doi:10.1109/iccv51701.2025.00841 · Cited by 2
Self-Supervised Monocular Depth Learning in Low-Texture Areas
Xu, W., Zou, L., Wu, L., & Fu, Z. (2021) · Remote Sensing · doi:10.3390/rs13091673 · Cited by 2
The Constraints between Edge Depth and Uncertainty for Monocular Depth Estimation
Wu, S., Li, W., Liang, B., & Huang, G. (2021) · Electronics · doi:10.3390/electronics10243153 · Cited by 2
What makes the unsupervised monocular depth estimation (UMDE) model training better
Wang, X., Liang, B., Yang, M., & Li, W. (2022) · Scientific Reports · doi:10.1038/s41598-022-26613-0 · Cited by 2
Self-supervised monocular depth estimation in fog
Tao, B., Hu, J., Jiang, D., Li, G., Chen, B., & Qian, X. (2022) · Optical Engineering · doi:10.1117/1.oe.62.3.031208 · Cited by 2
Monocular Depth Estimation for Equirectangular Videos
Fraser, H., & Wang, S. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9982157 · Cited by 2
Efficiently Fusing Sparse Lidar for Enhanced Self-Supervised Monocular Depth Estimation
Wang, Y., Gong, M., Xia, L., Zhang, Q., & Cheng, J. T. (2023) · IEEE International Conference on Acoustics Speech and Signal Processing · doi:10.1109/icassp49357.2023.10095951 · Cited by 2
Transformers in Unsupervised Structure-from-Motion
Chawla, H., Varma, A., Arani, E., & Zonooz, B. (2023) · Communications in computer and information science · doi:10.1007/978-3-031-45725-8_14 · Cited by 3
On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning
Sorokin, M., Fu, C., Tan, J., Liu, C. K., Bai, Y., Lu, W., Ha, S., & Khansari, M. (2023) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros55552.2023.10341905 · Cited by 2
Self-supervised rigid object 3-D motion estimation from monocular video
Wan, Y., Zhao, Q., Xu, J., Wang, H., Li, L. L., & Fang, L. (2024) · Measurement · doi:10.1016/j.measurement.2024.115067 · Cited by 2
Real-time, dense UAV mapping by leveraging monocular depth prediction with monocular-inertial SLAM
Habib, Y., Papadakis, P., Barz, C. L., Fagette, A., Gonçalves, T., & Buche, C. (2024) · Advanced Robotics · doi:10.1080/01691864.2024.2415084 · Cited by 2
Open-Vocabulary Predictive World Models from Sensor Observations
Karlsson, R., Asfandiyarov, R., Carballo, A., Fujii, K., Ohtani, K., & Takeda, K. (2024) · Sensors · doi:10.3390/s24144735 · Cited by 2
M2Depth: A Novel Self-Supervised Multi-Camera Depth Estimation with Multi-Level Supervision
Li, R., Ye, S., Yin, Z., Li, T., Zhang, Z., Xiao, K., & Pan, Z. (2024) · IEEE International Conference on Multimedia and Expo (ICME) · doi:10.1109/icme57554.2024.10687803 · Cited by 2
Yu, Z. (2024) · Applied Intelligence · doi:10.1007/s10489-024-06120-7 · Cited by 2
SDGE: Stereo Guided Depth Estimation for 360°Camera Sets
Xu, J., Yin, W., Gong, D., Jiang, J., & Liu, X. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10802599 · Cited by 2
PDDepth: Pose Decoupled Monocular Depth Estimation for Roadside Perception System
Wang, H., Zhang, X., Chen, Z., Li, J., & Liu, H. (2025) · IEEE Transactions on Circuits and Systems for Video Technology · doi:10.1109/tcsvt.2025.3541313 · Cited by 2
The ADUULM-360 Dataset - A Multi-Modal Dataset for Depth Estimation in Adverse Weather
Schön, M., Ruof, J., Wodtko, T., Buchholz, M., & Dietmayer, K. (2024) · IEEE International Conference on Intelligent Transportation Systems (ITSC) · doi:10.1109/itsc58415.2024.10920201 · Cited by 2
Outdoor Dataset for Flying a UAV at an Appropriate Altitude
Alotaibi, T., Jambi, K. M., Khemakhem, M. A., Eassa, F. E., & Bourennani, F. (2025) · Drones · doi:10.3390/drones9060406 · Cited by 2
MonoViM: Enhancing Self-supervised Monocular Depth Estimation via Mamba
Gao, Q., Peng, G., Chen, Z., & Yang, B. (2025) · Communications in computer and information science · doi:10.1007/978-981-96-6688-1_11 · Cited by 2
DOC-Depth: A Novel Approach for Dense Depth Ground Truth Generation
Simon, D. M., Mathias, C., Hassan, B., Yasser, A., Bursuc, A., El-Idrissi, H., & Moutarde, F. (2025) · IEEE Intelligent Vehicles Symposium · doi:10.1109/iv64158.2025.11097587 · Cited by 2
Multiscale Spatio-Temporal Fusion Network for video dehazing
Zhang, Q., Chen, G., Zhang, Y., Zhang, J., Liu, S., & Wang, J. (2025) · Computer Vision and Image Understanding · doi:10.1016/j.cviu.2025.104462 · Cited by 2
Lu, G. (2025) · IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings · doi:10.1109/cvpr52734.2025.01539 · Cited by 3
A Simple yet Effective Test-Time Adaptation for Zero-Shot Monocular Metric Depth Estimation
Marsal, R., Chapoutot, A., Xu, P., & Filliat, D. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11247168 · Cited by 11
Adaptive Self-supervised Depth Estimation in Monocular Videos
Mendoza, J., & Pedrini, H. (2021) · Lecture notes in computer science · doi:10.1007/978-3-030-87361-5_56 · Cited by 2
Monocular weakly supervised depth and pose estimation method based on multi-information fusion
Zhang, Z., Qiao, J., & Lin, S. (2021) · Kuwait Journal of Science · doi:10.48129/kjs.12929 · Cited by 1
Uncertainty Guided Self-Supervised Monocular Depth Estimation Based on Monte Carlo Method
Li, R., Liu, Z., Wu, X., Liu, J., & Chen, W. (2023) · IEEE Conference on Industrial Electronics and Applications (ICIEA) · doi:10.1109/iciea58696.2023.10241767 · Cited by 2
RGB-Depth Structure Similarity for Self-supervised Monocular Depth Estimation
Zhang, L., & Yang, M. (2023) · IEEE International Conference on Real-time Computing and Robotics (RCAR) · doi:10.1109/rcar58764.2023.10250088 · Cited by 2
Boettcher, W., Hoyer, L., Unal, O., Li, K., & Dai, D. (2023) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros55552.2023.10341349 · Cited by 2
Towards Scale-Aware Self-Supervised Multi-Frame Depth Estimation with IMU Motion Dynamics
Lu, Y., Zhang, D., Gu, Z., & Qiu, J. (2023) · IEEE International Conference on Data Science in Cyberspace · doi:10.1109/dsc59305.2023.00023 · Cited by 2
Dual-attention-based semantic-aware self-supervised monocular depth estimation
Xu, J., Ye, F., & Lai, Y. (2024) · Multimedia Tools and Applications · doi:10.1007/s11042-023-17976-1 · Cited by 2
Self-Supervised Monocular Depth Estimation Based on Full Scale Feature Fusion
Wang, C., & Chen, Y. (2023) · Journal of Computer-Aided Design & Computer Graphics · doi:10.3724/sp.j.1089.2023.19418 · Cited by 2
Fuhrmann, H., Boyko, A., Abdelpakey, M. H., & Shehata, M. (2021) · IEEE World Forum on Internet of Things (WF-IoT) · doi:10.1109/wf-iot51360.2021.9594927 · Cited by 2
SUB-Depth: Self-distillation and Uncertainty Boosting Self-supervised Monocular Depth EstimationPreprint
Zhou, H., Taylor, S. L., Greenwood, D., & Mackiewicz, M. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2111.09692 · Cited by 6
R4Dyn: Exploring Radar for Self-Supervised Monocular Depth Estimation of Dynamic Scenes
Gasperini, S. (2021) · mediaTUM (Technical University of Munich) · doi:10.1109/3dv53792.2021.00084 · Cited by 40
Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimation
Chawla, H., Varma, A., Arani, E., & Zonooz, B. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561441 · Cited by 26
Semantic and Optical Flow Guided Self-supervised Monocular Depth and Ego-Motion Estimation
Fang, J., & Liu, G. (2021) · Lecture notes in computer science · doi:10.1007/978-3-030-87361-5_38 · Cited by 1
Learning Monocular Depth in Dynamic Environment via Context-aware Temporal Attention
Wu, Z., Li, Z., Fan, Z., Wu, Y., Gan, Y., & Pu, J. (2023) · International Joint Conference on Artificial Intelligence · doi:10.24963/ijcai.2023/172 · Cited by 1
Exploring Few-Beam LiDAR Assistance in Self-Supervised Multi-Frame Depth Estimation
Fan, R., Poggi, M., & Mattoccia, S. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10801997 · Cited by 1
Infrared Monocular Depth Estimation Based on Radiation Field Detail Enhancement
Hao, R., Xu, C., & Zhong, C. (2025) · IEEE Access · doi:10.1109/access.2025.3574932 · Cited by 1
Gao, X., Wang, B., Ning, Z., Yang, J., & Liu, W. (2025) · Computer Vision and Image Understanding · doi:10.1016/j.cviu.2025.104422 · Cited by 1
A Survey of Visual SLAM Based on RGB-D Images Using Deep Learning and Comparative Study for VOE
Le, V.-H., & Nguyen, T.-H.-P. (2025) · Algorithms · doi:10.3390/a18070394 · Cited by 1
Enhanced Monocular Depth Estimation Based on Uncertainty Edge Weighting Mask
Kim, Y., & Kim, B. (2025) · Tsinghua Science & Technology · doi:10.26599/tst.2025.9010036 · Cited by 1
Li, R., Li, T., Yin, Z., Zheng, H., Xiao, K., & Pan, Z. (2025) · International Joint Conference on Neural Networks (IJCNN) · doi:10.1109/ijcnn64981.2025.11229354 · Cited by 1
TCNet: A Temporally Consistent Network for Self-supervised Monocular Depth Estimation
Zhu, Y., Liu, H., Wu, J., & Liu, M. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11246514 · Cited by 1
An Exposure-Aware Self-Attention Method for Enhanced Self-Supervised All-Day Depth Estimation
Dou, J., Feng, P., Teng, J., Luo, Z., & Hu, L. (2025) · International Joint Conference on Neural Networks (IJCNN) · doi:10.1109/ijcnn64981.2025.11228418 · Cited by 1
Fang, J. (2026) · IEEE Sensors Journal · doi:10.1109/jsen.2025.3611842 · Cited by 1
Dong, J., Chen, G., Piras, M., Bo, Y., Hu, M., Lin, Z., Wang, T., Zhang, Z., & Hu, L. (2026) · IEEE Internet of Things Journal · doi:10.1109/jiot.2026.3663630 · Cited by 1
Multi‐Task Learning for Airport Surface Surveillance: A Review
Fu, D., Wang, X., Wu, F., Han, S., Liang, B., Li, W., & Yang, K. (2026) · Expert Systems · doi:10.1111/exsy.70227 · Cited by 1
Enhanced monocular depth estimation via semantic fusion and planar constraints
Li, W., Peng, C., Li, Z., Tan, S., Wang, T. Y., & Wei, X. (2026) · The Visual Computer · doi:10.1007/s00371-026-04445-7 · Cited by 1
Distill Any Depth: Distillation Creates a Stronger Monocular Depth Estimator
He, X., Guo, D., Li, H., Cui, Y., Weng, L., Li, R., & Zhang, C. (2026) · doi:10.1109/cvprf71909.2026.00061 · Cited by 1
A Synopsis of Monocular Depth Estimation
Chaudhari, S. B., Rao, A. N. S., Vardam, R., & Sohani, M. (2021) · Lecture notes in electrical engineering · doi:10.1007/978-981-16-3690-5_18 · Cited by 1
Alsheimer, S., & Zhu, Z. (2021) · IEEE International Conference on Imaging Systems and Techniques (IST) · doi:10.1109/ist50367.2021.9651471 · Cited by 1
Depth estimation using an improved stereo network
Xu, W., Zou, L., Wu, L., Qi, Y., & Qian, Z. (2022) · Frontiers of Information Technology & Electronic Engineering · doi:10.1631/fitee.2000676 · Cited by 1
Self-supervised monocular depth estimation based on pseudo-pose guidance and grid regularization
Xiao, Y., Chen, W., & Wang, J. (2022) · Applied Intelligence · doi:10.1007/s10489-022-04006-0 · Cited by 1
MOAC: Multi-level Perception Optimizer Based on Dual Augmented Cost for Structure- from-Motion
Wu, P., Li, G., & Li, T. H. (2022) · IEEE International Conference on Multimedia Information Processing and Retrieval (MIPR) · doi:10.1109/mipr54900.2022.00031 · Cited by 1
Hirose, N., & Tahara, K. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9981751 · Cited by 1
SPNet: Structure preserving network for depth completion
Li, T., Luo, S., Fan, Z., Zhou, Q., & Hu, T. (2023) · PLoS ONE · doi:10.1371/journal.pone.0280886 · Cited by 1
How Does Monocular Depth Estimation Work for MAV Navigation in the Real World?
Pan, Y.-Z., Wang, J., Chen, F., Zheng, L. L., Zhang, S., & Yang, T. (2023) · Lecture notes in electrical engineering · doi:10.1007/978-981-99-0479-2_347 · Cited by 1
ADfM-Net: An Adversarial Depth-From-Motion Network Based on Cross Attention and Motion Enhanced
Long, Y., Yu, H., Xu, C., & Deng, Z. (2023) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2023.3268885 · Cited by 1
Self-Supervised Steering and Path Labeling for Autonomous Driving
Mihalea, A., Samoilescu, R.-F., & Florea, A. M. (2023) · Sensors · doi:10.3390/s23208473 · Cited by 1
A Deep Joint Network for Monocular Depth Estimation Based on Pseudo-Depth Supervision
Tan, J., Gao, M. Z., Duan, T., & Gao, X. (2023) · Mathematics · doi:10.3390/math11224645 · Cited by 1
Ji-wen, L., Xie, S., Xie, Y., Chen, X., & Chen, X. (2023) · Communications in computer and information science · doi:10.1007/978-981-99-8126-7_31 · Cited by 1
Wen, J. A., Ma, H., Yang, J., & Zhang, S. (2023) · Lecture notes in computer science · doi:10.1007/978-981-99-8549-4_30 · Cited by 1
N-QGNv2: Predicting the optimum quadtree representation of a depth map from a monocular camera
Braun, D., Morel, O., Demonceaux, C., & Vasseur, P. (2024) · Pattern Recognition Letters · doi:10.1016/j.patrec.2024.01.027 · Cited by 1
Leveraging Mobile Net and Yolo Algorithm for Enhanced Perception in Autonomous Driving
Rithika Grace, R., Vaishnavi, H., & Ponrani, M. A. (2024) · International Journal of Innovative Science and Research Technology (IJISRT) · doi:10.38124/ijisrt/ijisrt24mar1535 · Cited by 1
Utilizing Dataset Affinity Prediction in Object Detection to Assess Training Data
Becker, S., Bayer, J., Hug, R., Huebner, W., & Arens, M. (2024) · Communications in computer and information science · doi:10.1007/978-3-031-59057-3_17 · Cited by 1
Monocular depth estimation using multi-dimensional dynamic convolution
Zhang, R., & Yu, H. (2024) · Applied and Computational Engineering · doi:10.54254/2755-2721/68/20241451 · Cited by 1
Dual-Attention Mechanism for Monocular Depth Estimation
Chiu, C.-H., Astuti, L., Lin, Y., & Hung, M. (2024) · International Conference on Computer and Automation Engineering · doi:10.1109/iccae59995.2024.10569356 · Cited by 1
Self-supervised Recurrent Visual Odometry, Depth Estimation, and Instance Segmentation
Lin, C., Liu, Y., Chen, A., & Gao, H. (2024) · International Conference on Computing, Networks and Internet of Things (CNIOT) · doi:10.1145/3670105.3670152 · Cited by 1
Siqing, 张. Z., & Xiaoquan, 刘. L. (2024) · Infrared and Laser Engineering · doi:10.3788/irla20240104 · Cited by 1
Monocular Depth Estimation Algorithm for Rainy Scenes
Hu, J., & Cao, Z. (2024) · International Conference on Electronic Communication and Artificial Intelligence (ICECAI) · doi:10.1109/icecai62591.2024.10675134 · Cited by 1
PC-FusionMap: A Novel Point Cloud Generation and Multimodal Fusion Approach for HD Map Construction
Zhuang, Y., Duan, Z., Li, L., Wu, C., & Liu, Z. (2024) · IEEE Transactions on Intelligent Vehicles · doi:10.1109/tiv.2024.3513401 · Cited by 1
FEDORA: A Flying Event Dataset fOr Reactive behAvior
Joshi, A., Ponghiran, W., Kosta, A. K., Nagaraj, M., & Roy, K. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10801807 · Cited by 1
Wu, G., Chen, L., & Chen, Z. (2025) · IEEE Transactions on Multimedia · doi:10.1109/tmm.2024.3521846 · Cited by 1
SwiftDepth++: An Efficient and Lightweight Model for Accurate Depth Estimation
Dayoub, Y., & Makarov, I. (2024) · Doklady Mathematics · doi:10.1134/s1064562424602038 · Cited by 1
Parallel Multi-Scale Semantic-Depth Interactive Fusion Network for Depth Estimation
Fu, C., Sun, S., Wei, N., Chau, V., Xu, X., & Wu, W. (2025) · Journal of Imaging · doi:10.3390/jimaging11070218 · Cited by 1
Zeng, X., Luo, B., Zhang, S., Wang, W., Liu, J., & Su, X. B. (2025) · Remote Sensing · doi:10.3390/rs17193372 · Cited by 1
Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints
Chen, K., Pogue, A., Lopez, B. T., Agha–mohammadi, A., & Mehta, A. M. (2021) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636030 · Cited by 1
Cocktail Glass Network: Fast Depth Estimation Using Channel to Space Unrolling
Yu, J.-J., Ko, J.-G., & Kim, J. (2021) · IEEE Access · doi:10.1109/access.2021.3105136 · Cited by 1
Stable Depth Estimation Within Consecutive Video Frames
Luo, F., Wei, L., & Xiao, C. (2021) · Lecture notes in computer science · doi:10.1007/978-3-030-89029-2_4 · Cited by 1
Attention-Based Background/Foreground Monocular Depth Prediction Model Using Image Segmentation
Chiang, T.-H., Chiang, M.-H., Tsai, M., & Chang, C.-C. (2022) · Applied Sciences · doi:10.3390/app122111186 · Cited by 1
Sim2Real for Self-Supervised Monocular Depth and SegmentationPreprint
Raghavan, N., Chakravarty, P., & Shrivastava, S. (2020) · arXiv (Cornell University) · doi:10.48550/arxiv.2012.00238 · Cited by 1
Variational Structured Attention Networks for Deep Visual Representation LearningPreprint
Yang, G., Rota, P., Alameda-Pineda, X., Xu, D., Ding, M., & Ricci, E. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2103.03510 · Cited by 1
Shrivastava, S. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2104.05932 · Cited by 1
Self-Supervised Structure-from-Motion through Tightly-Coupled Depth and Egomotion Networks.Preprint
Wagstaff, B., Peretroukhin, V., & Kelly, J. W. (2021) · arXiv (Cornell University) · Cited by 1
Radar-Camera Pixel Depth Association for Depth CompletionPreprint
Long, Y., Morris, D., Liu, X., Castro, M. P. G., Chakravarty, P., & Narayanan, P. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2106.02778 · Cited by 1
Weakly-Supervised Monocular Depth Estimationwith Resolution-Mismatched DataPreprint
Xu, J., Bai, Y., Liu, X., Jiang, J., & Ji, X. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2109.11573 · Cited by 1
Hirose, N., & Tahara, K. (2021) · arXiv (Cornell University) · Cited by 1
NSS-VAEs: Generative Scene Decomposition for Visual Navigable Space ConstructionPreprint
Chen, Z., & Liu, L. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2111.01127 · Cited by 1
Learning Topology from Synthetic Data for Unsupervised Depth CompletionPreprint
Wong, A., Cicek, S., & Soatto, S. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2106.02994
Improved Point Transformation Methods For Self-Supervised Depth Prediction
Chen, Z., Guo, Z., & Weinman, J. J. (2021) · Canadian Conference on Computer and Robot Vision · doi:10.1109/crv52889.2021.00023
Fang, J., & Guizhong, L. (2021) · IEEE International Conference on Unmanned Systems (ICUS) · doi:10.1109/icus52573.2021.9641225
Fang, J., & Liu, G. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2108.01980
Single Image Depth Prediction with Wavelet DecompositionPreprint
Ramamonjisoa, M., Firman, M., Watson, J., Lepetit, V., & Turmukhambetov, D. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2106.02022
Peer Review #2 of "Self-supervised recurrent depth estimation with attention mechanisms (v0.3)"
(2022) · PeerJ Computer Science · doi:10.7287/peerj-cs.865v0.3/reviews/2
Peer Review #1 of "Self-supervised recurrent depth estimation with attention mechanisms (v0.2)"
(2022) · PeerJ Computer Science · doi:10.7287/peerj-cs.865v0.2/reviews/1
Peer Review #2 of "Self-supervised recurrent depth estimation with attention mechanisms (v0.2)"
(2022) · PeerJ Computer Science · doi:10.7287/peerj-cs.865v0.2/reviews/2
Peer Review #2 of "Self-supervised recurrent depth estimation with attention mechanisms (v0.1)"
(2022) · PeerJ Computer Science · doi:10.7287/peerj-cs.865v0.1/reviews/2
Metadata
- Authors
- Guizilini, V., Ambrus, R., Pillai, S., Raventos, A., & Gaidon, A.
- Affiliations
- Toyota Research Institute (US)
- Venue
- 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
- Publisher
- IEEE
- Published
- 2020-06
- Pages
- 2482-2491
- ISSN
- 1063-6919 (ISSN-L)
- OpenAlex
- W2991840778
- Semantic Scholar
- 43fcb6cf679cd2ae412d7cb53e85312600cc20dd
- Cited by
- 741
- References
- 59
- Citations by year
- 2026: 51 · 2025: 108 · 2024: 140 · 2023: 155 · 2022: 139 · 2021: 125 · 2020: 19
- FWCI
- 33.78
- Type
- conference paper
- Language
- en
- Open access
- green
- arxiv.org
- Licence
- Locations
- IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- arXiv (Cornell University)
- Topics
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Vision and Imaging
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Neural Network Applications
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Robotics and Sensor-Based Localization
- Keywords
- monocular depth estimation, self-supervised learning, 3D convolution, out-of-domain generalization, real-time depth estimation, autonomous driving, KITTI dataset, nuScenes
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