# Learning Feature Decomposition for Domain Adaptive Monocular Depth Estimation

arXiv: https://arxiv.org/abs/2208.00160 · HTML: https://mlsanity.com/paper/2208.00160/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- Builds on 38 of its 46 references that are in the map.
- First posted on arXiv 30 Jul 2022.

## Builds on (most cited first, 30 of 38)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift](https://mlsanity.com/paper/1502.03167/) (2015)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Perceptual Losses for Real-Time Style Transfer and Super-Resolution](https://mlsanity.com/paper/1603.08155/) (2016)
- [Arbitrary Style Transfer in Real-time with Adaptive Instance Normalization](https://mlsanity.com/paper/1703.06868/) (2017)
- [Unsupervised Domain Adaptation by Backpropagation](https://mlsanity.com/paper/1409.7495/) (2014)
- [Adversarial Discriminative Domain Adaptation](https://mlsanity.com/paper/1702.05464/) (2017)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [CyCADA: Cycle-Consistent Adversarial Domain Adaptation](https://mlsanity.com/paper/1711.03213/) (2017)
- [Least Squares Generative Adversarial Networks](https://mlsanity.com/paper/1611.04076/) (2016)
- [Unsupervised Monocular Depth Estimation with Left-Right Consistency](https://mlsanity.com/paper/1609.03677/) (2016)
- [Unsupervised Learning of Depth and Ego-Motion from Video](https://mlsanity.com/paper/1704.07813/) (2017)
- [Deep Ordinal Regression Network for Monocular Depth Estimation](https://mlsanity.com/paper/1806.02446/) (2018)
- [AdaBins: Depth Estimation using Adaptive Bins](https://mlsanity.com/paper/2011.14141/) (2020)
- [Deeper Depth Prediction with Fully Convolutional Residual Networks](https://mlsanity.com/paper/1606.00373/) (2016)
- [Semantic Foggy Scene Understanding with Synthetic Data](https://mlsanity.com/paper/1708.07819/) (2017)
- [Unsupervised CNN for Single View Depth Estimation: Geometry to the Rescue](https://mlsanity.com/paper/1603.04992/) (2016)
- [Virtual Worlds as Proxy for Multi-Object Tracking Analysis](https://mlsanity.com/paper/1605.06457/) (2016)
- [Adversarial Examples Improve Image Recognition](https://mlsanity.com/paper/1911.09665/) (2019)
- [Domain-Specific Batch Normalization for Unsupervised Domain Adaptation](https://mlsanity.com/paper/1906.03950/) (2019)
- [Progressive Feature Alignment for Unsupervised Domain Adaptation](https://mlsanity.com/paper/1811.08585/) (2018)
- [Unsupervised Learning of Depth and Ego-Motion from Monocular Video Using 3D Geometric Constraints](https://mlsanity.com/paper/1802.05522/) (2018)
- [Image to Image Translation for Domain Adaptation](https://mlsanity.com/paper/1712.00479/) (2017)
- [Asymmetric Tri-training for Unsupervised Domain Adaptation](https://mlsanity.com/paper/1702.08400/) (2017)
- [Semi-Supervised Deep Learning for Monocular Depth Map Prediction](https://mlsanity.com/paper/1702.02706/) (2017)
- [CrDoCo: Pixel-level Domain Transfer with Cross-Domain Consistency](https://mlsanity.com/paper/2001.03182/) (2020)
- [MeGA-CDA: Memory Guided Attention for Category-Aware Unsupervised Domain Adaptive Object Detection](https://mlsanity.com/paper/2103.04224/) (2021)
- [All about Structure: Adapting Structural Information across Domains for Boosting Semantic Segmentation](https://mlsanity.com/paper/1903.12212/) (2019)

## Built on by (most cited first, 9 of 9)

- [DARE-GRAM : Unsupervised Domain Adaptation Regression by Aligning Inverse Gram Matrices](https://mlsanity.com/paper/2303.13325/) (2023)
- [Spatio-Temporal Pixel-Level Contrastive Learning-based Source-Free Domain Adaptation for Video Semantic Segmentation](https://mlsanity.com/paper/2303.14361/) (2023)
- [A Generalized Multi-Modal Fusion Detection Framework](https://mlsanity.com/paper/2303.07064/) (2023)
- [GenDepth: Generalizing Monocular Depth Estimation for Arbitrary Camera Parameters via Ground Plane Embedding](https://mlsanity.com/paper/2312.06021/) (2023)
- [TITAN: Query-Token based Domain Adaptive Adversarial Learning](https://mlsanity.com/paper/2506.21484/) (2025)
- [Do More With What You Have: Transferring Depth-Scale from Labeled to Unlabeled Domains](https://mlsanity.com/paper/2303.07662/) (2023)
- [Calibrating Panoramic Depth Estimation for Practical Localization and Mapping](https://mlsanity.com/paper/2308.14005/) (2023)
- [Adaptive Batch Normalization Networks for Adversarial Robustness](https://mlsanity.com/paper/2405.11708/) (2024)
- [Context Aware Grounded Teacher for Source Free Object Detection](https://mlsanity.com/paper/2504.15404/) (2025)

## Abstract (arXiv)

Monocular depth estimation (MDE) has attracted intense study due to its low cost and critical functions for robotic tasks such as localization, mapping and obstacle detection. Supervised approaches have led to great success with the advance of deep learning, but they rely on large quantities of ground-truth depth annotations that are expensive to acquire. Unsupervised domain adaptation (UDA) transfers knowledge from labeled source data to unlabeled target data, so as to relax the constraint of supervised learning. However, existing UDA approaches may not completely align the domain gap across different datasets because of the domain shift problem. We believe better domain alignment can be achieved via well-designed feature decomposition. In this paper, we propose a novel UDA method for MDE, referred to as Learning Feature Decomposition for Adaptation (LFDA), which learns to decompose the feature space into content and style components. LFDA only attempts to align the content component since it has a smaller domain gap. Meanwhile, it excludes the style component which is specific to the source domain from training the primary task. Furthermore, LFDA uses separate feature distribution estimations to further bridge the domain gap. Extensive experiments on three domain adaptative MDE scenarios show that the proposed method achieves superior accuracy and lower computational cost compared to the state-of-the-art approaches.