mlsanityData to 7 Oct 2026

Monocular Depth Estimation: A Survey

arXiv 1901.09402 ↗First posted 27 Jan 2019cs.CVcited by 37

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Abstract (arXiv)

Monocular depth estimation is often described as an ill-posed and inherently ambiguous problem. Estimating depth from 2D images is a crucial step in scene reconstruction, 3Dobject recognition, segmentation, and detection. The problem can be framed as: given a single RGB image as input, predict a dense depth map for each pixel. This problem is worsened by the fact that most scenes have large texture and structural variations, object occlusions, and rich geometric detailing. All these factors contribute to difficulty in accurate depth estimation. In this paper, we review five papers that attempt to solve the depth estimation problem with various techniques including supervised, weakly-supervised, and unsupervised learning techniques. We then compare these papers and understand the improvements made over one another. Finally, we explore potential improvements that can aid to better solve this problem.

Key facts. Cited by 37 papers in the map (data through 7 Oct 2026). First posted on arXiv 27 Jan 2019.

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Citing papers per year: 2021: 8; 2022: 6; 2023: 6; 2024: 7; 2025: 9; 2026: 1.

37 papers.

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  1. 2022Panoptic NeRF: 3D-to-2D Label Transfer for Panoptic Urban Scene Segmentationcited by 152
  2. 2022PanoFormer: Panorama Transformer for Indoor 360 Depth Estimationcited by 94
  3. 2023Booster: a Benchmark for Depth from Images of Specular and Transparent Surfacescited by 33
  4. 2023DaRF: Boosting Radiance Fields from Sparse Inputs with Monocular Depth Adaptationcited by 25
  5. 2021Beyond Image to Depth: Improving Depth Prediction using Echoescited by 24
  6. 2024Deep Learning-based Depth Estimation Methods from Monocular Image and Videos: A Comprehensive Surveycited by 15
  7. 2022ChiTransformer:Towards Reliable Stereo from Cuescited by 14
  8. 20243D Scene Geometry Estimation from 360^circ Imagery: A Surveycited by 11
  9. 2024Self-Evolving Depth-Supervised 3D Gaussian Splatting from Rendered Stereo Pairscited by 11
  10. 2025Depth Anything at Any Conditioncited by 11
  11. 2023PanopticNeRF-360: Panoramic 3D-to-2D Label Transfer in Urban Scenescited by 9
  12. 2021Real-Time Monocular Human Depth Estimation and Segmentation on Embedded Systemscited by 4
25 more
  1. 2021Traffic-Net: 3D Traffic Monitoring Using a Single Cameracited by 4
  2. 2021Detecting and Identifying Optical Signal Attacks on Autonomous Driving Systemscited by 4
  3. 2024Amodal Depth Anything: Amodal Depth Estimation in the Wildcited by 4
  4. 2022Sensor Data Validation and Driving Safety in Autonomous Driving Systemscited by 3
  5. 2025Approximate Supervised Object Distance Estimation on Unmanned Surface Vehiclescited by 3
  6. 2025Niagara: Normal-Integrated Geometric Affine Field for Scene Reconstruction from a Single Viewcited by 3
  7. 2021Marine vessel tracking using a monocular cameracited by 2
  8. 2022Unsupervised Single-shot Depth Estimation using Perceptual Reconstructioncited by 2
  9. 2023ADU-Depth: Attention-based Distillation with Uncertainty Modeling for Depth Estimationcited by 2
  10. 2023Leveraging a realistic synthetic database to learn Shape-from-Shading for estimating the colon depth in colonoscopy imagescited by 2
  11. 2022Monocular Spherical Depth Estimation with Explicitly Connected Weak Layout Cuescited by 1
  12. 2023RGB-D-Fusion: Image Conditioned Depth Diffusion of Humanoid Subjectscited by 1
  13. 2024Learning Monocular Depth from Focus with Event Focal Stackcited by 1
  14. 2024Human Insights Driven Latent Space for Different Driving Perspectives: A Unified Encoder for Efficient Multi-Task Inferencecited by 1
  15. 2025DB3D-L: Depth-aware BEV Feature Transformation for Accurate 3D Lane Detectioncited by 1
  16. 2025Endoscopic Depth Estimation Based on Deep Learning: A Surveycited by 1
  17. 2026SpiderCam: Low-Power Snapshot Depth from Differential Defocuscited by 1
  18. 2021Improved Point Transformation Methods For Self-Supervised Depth Predictioncited by 0
  19. 2021Progressive Depth Learning for Single Image Dehazingcited by 0
  20. 2021Unpaired Single-Image Depth Synthesis with cycle-consistent Wasserstein GANscited by 0
  21. 2024Mean of Means: A 10-dollar Solution for Human Localization with Calibration-free and Unconstrained Camera Settingscited by 0
  22. 2025Survey on Monocular Metric Depth Estimationcited by 0
  23. 2025Mean of Means: Human Localization with Calibration-free and Unconstrained Camera Settings (extended version)cited by 0
  24. 2025Enhancing Steering Estimation with Semantic-Aware GNNscited by 0
  25. 2025Projection-based Adversarial Attack using Physics-in-the-Loop Optimization for Monocular Depth Estimationcited by 0