mlsanityData to 14 Oct 2026

MonoViT: Self-Supervised Monocular Depth Estimation with a Vision Transformer

arXiv 2208.03543 ↗First posted 6 Aug 2022cs.CVcited by 136

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Abstract (arXiv)

Self-supervised monocular depth estimation is an attractive solution that does not require hard-to-source depth labels for training. Convolutional neural networks (CNNs) have recently achieved great success in this task. However, their limited receptive field constrains existing network architectures to reason only locally, dampening the effectiveness of the self-supervised paradigm. In the light of the recent successes achieved by Vision Transformers (ViTs), we propose MonoViT, a brand-new framework combining the global reasoning enabled by ViT models with the flexibility of self-supervised monocular depth estimation. By combining plain convolutions with Transformer blocks, our model can reason locally and globally, yielding depth prediction at a higher level of detail and accuracy, allowing MonoViT to achieve state-of-the-art performance on the established KITTI dataset. Moreover, MonoViT proves its superior generalization capacities on other datasets such as Make3D and DrivingStereo.

Key facts. Cited by 136 papers in the map (data through 14 Oct 2026). Builds on 57 of its 73 references that are in the map. First posted on arXiv 6 Aug 2022.

Builds on

57 of 73 references.

References · 57

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38 more
  1. 2017Unsupervised Learning of Depth and Ego-Motion from Videocited by 782
  2. 2018Deep Ordinal Regression Network for Monocular Depth Estimationcited by 723
  3. 2020AdaBins: Depth Estimation using Adaptive Binscited by 601
  4. 20193D Packing for Self-Supervised Monocular Depth Estimationcited by 439
  5. 2016Deeper Depth Prediction with Fully Convolutional Residual Networkscited by 403
  6. 2016Unsupervised CNN for Single View Depth Estimation: Geometry to the Rescuecited by 368
  7. 2020MaX-DeepLab: End-to-End Panoptic Segmentation with Mask Transformerscited by 355
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  11. 2020D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometrycited by 206
  12. 2020On the uncertainty of self-supervised monocular depth estimationcited by 182
  13. 2018Unsupervised Learning of Depth and Ego-Motion from Monocular Video Using 3D Geometric Constraintscited by 179
  14. 2015Learning Depth from Single Monocular Images Using Deep Convolutional Neural Fieldscited by 169
  15. 2018Unsupervised Learning of Monocular Depth Estimation and Visual Odometry with Deep Feature Reconstructioncited by 159
  16. 2017Learning Depth from Monocular Videos using Direct Methodscited by 154
  17. 2018DF-Net: Unsupervised Joint Learning of Depth and Flow using Cross-Task Consistencycited by 148
  18. 2020Self-Supervised Monocular Depth Estimation: Solving the Dynamic Object Problem by Semantic Guidancecited by 148
  19. 2020Feature-metric Loss for Self-supervised Learning of Depth and Egomotioncited by 140
  20. 2020Semantically-Guided Representation Learning for Self-Supervised Monocular Depthcited by 134
  21. 2019Self-supervised Learning with Geometric Constraints in Monocular Video: Connecting Flow, Depth, and Cameracited by 130
  22. 2019Self-Supervised Monocular Depth Hintscited by 127
  23. 2021Transformer-Based Attention Networks for Continuous Pixel-Wise Predictioncited by 125
  24. 2021MPViT: Multi-Path Vision Transformer for Dense Predictioncited by 122
  25. 2022DepthFormer: Exploiting Long-Range Correlation and Local Information for Accurate Monocular Depth Estimationcited by 118
  26. 2020Self-supervised Monocular Trained Depth Estimation using Self-attention and Discrete Disparity Volumecited by 116
  27. 2020HR-Depth: High Resolution Self-Supervised Monocular Depth Estimationcited by 115
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  30. 2021Self-Supervised Monocular Depth Estimation with Internal Feature Fusioncited by 67
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  32. 2021Channel-Wise Attention-Based Network for Self-Supervised Monocular Depth Estimationcited by 63
  33. 2020SynDistNet: Self-Supervised Monocular Fisheye Camera Distance Estimation Synergized with Semantic Segmentation for Autonomous Drivingcited by 48
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50 most cited of 57 All 57 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 8; 2023: 27; 2024: 48; 2025: 30; 2026: 23.

136 papers.

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  1. 2023DUSt3R: Geometric 3D Vision Made Easycited by 1,567
  2. 2022Lite-Mono: A Lightweight CNN and Transformer Architecture for Self-Supervised Monocular Depth Estimationcited by 100
  3. 2023CompletionFormer: Depth Completion with Convolutions and Vision Transformerscited by 93
  4. 2023Robust Monocular Depth Estimation under Challenging Conditionscited by 58
  5. 2023RoboDepth: Robust Out-of-Distribution Depth Estimation under Corruptionscited by 49
  6. 2024Stereo Anywhere: Robust Zero-Shot Deep Stereo Matching Even Where Either Stereo or Mono Failcited by 47
  7. 2023Self-supervised Monocular Depth Estimation: Let's Talk About The Weathercited by 34
  8. 2023Learning Depth Estimation for Transparent and Mirror Surfacescited by 34
  9. 2024WorDepth: Variational Language Prior for Monocular Depth Estimationcited by 34
  10. 2024Cross-View Completion Models are Zero-shot Correspondence Estimatorscited by 30
  11. 2024Diffusion Models for Monocular Depth Estimation: Overcoming Challenging Conditionscited by 29
  12. 2025Synthetic-to-Real Self-supervised Robust Depth Estimation via Learning with Motion and Structure Priorscited by 22
38 more
  1. 2023Kick Back & Relax: Learning to Reconstruct the World by Watching SlowTVcited by 21
  2. 2023SQLdepth: Generalizable Self-Supervised Fine-Structured Monocular Depth Estimationcited by 21
  3. 2024RSA: Resolving Scale Ambiguities in Monocular Depth Estimators through Language Descriptionscited by 21
  4. 2025Jasmine: Harnessing Diffusion Prior for Self-supervised Depth Estimationcited by 21
  5. 2023MACARONS: Mapping And Coverage Anticipation with RGB Online Self-Supervisioncited by 19
  6. 2024Digging into contrastive learning for robust depth estimation with diffusion modelscited by 19
  7. 2023EGA-Depth: Efficient Guided Attention for Self-Supervised Multi-Camera Depth Estimationcited by 16
  8. 2023WeatherDepth: Curriculum Contrastive Learning for Self-Supervised Depth Estimation under Adverse Weather Conditionscited by 15
  9. 2023AugUndo: Scaling Up Augmentations for Monocular Depth Completion and Estimationcited by 15
  10. 2025Depth AnyEvent: A Cross-Modal Distillation Paradigm for Event-Based Monocular Depth Estimationcited by 15
  11. 2022Event-based Monocular Dense Depth Estimation with Recurrent Transformerscited by 14
  12. 2023Self-Supervised Monocular Depth Estimation by Direction-aware Cumulative Convolution Networkcited by 14
  13. 2025Reconstructing 4D Spatial Intelligence: A Surveycited by 14
  14. 2022The Monocular Depth Estimation Challengecited by 13
  15. 2023The RoboDepth Challenge: Methods and Advancements Towards Robust Depth Estimationcited by 13
  16. 2023GasMono: Geometry-Aided Self-Supervised Monocular Depth Estimation for Indoor Scenescited by 13
  17. 2023MonoDiffusion: Self-Supervised Monocular Depth Estimation Using Diffusion Modelcited by 13
  18. 2023From-Ground-To-Objects: Coarse-to-Fine Self-supervised Monocular Depth Estimation of Dynamic Objects with Ground Contact Priorcited by 13
  19. 2024DCPI-Depth: Explicitly Infusing Dense Correspondence Prior to Unsupervised Monocular Depth Estimationcited by 13
  20. 2023The Second Monocular Depth Estimation Challengecited by 12
  21. 2024Know Your Neighbors: Improving Single-View Reconstruction via Spatial Vision-Language Reasoningcited by 12
  22. 2025GS-2DGS: Geometrically Supervised 2DGS for Reflective Object Reconstructioncited by 11
  23. 2023Self-Supervised Monocular Depth Estimation with Self-Reference Distillation and Disparity Offset Refinementcited by 10
  24. 2023Efficient Low-rank Backpropagation for Vision Transformer Adaptationcited by 10
  25. 2024MonoPCC: Photometric-invariant Cycle Constraint for Monocular Depth Estimation of Endoscopic Imagescited by 10
  26. 2024The Third Monocular Depth Estimation Challengecited by 10
  27. 2024Mono-ViFI: A Unified Learning Framework for Self-supervised Single- and Multi-frame Monocular Depth Estimationcited by 9
  28. 2024Embodiment: Self-Supervised Depth Estimation Based on Camera Modelscited by 9
  29. 2025Extending Foundational Monocular Depth Estimators to Fisheye Cameras with Calibration Tokenscited by 9
  30. 2025StereoAdapter: Adapting Stereo Depth Estimation to Underwater Scenescited by 9
  31. 2022RCDPT: Radar-Camera fusion Dense Prediction Transformercited by 8
  32. 2024SPIdepth: Strengthened Pose Information for Self-supervised Monocular Depth Estimationcited by 8
  33. 2025The Fourth Monocular Depth Estimation Challengecited by 8
  34. 2023Out-of-Distribution Detection for Monocular Depth Estimationcited by 7
  35. 2024Kick Back & Relax++: Scaling Beyond Ground-Truth Depth with SlowTV & CribsTVcited by 7
  36. 2024Stealing Stable Diffusion Prior for Robust Monocular Depth Estimationcited by 7
  37. 2024Towards Cross-View-Consistent Self-Supervised Surround Depth Estimationcited by 7
  38. 2024SCIPaD: Incorporating Spatial Clues into Unsupervised Pose-Depth Joint Learningcited by 7

50 most cited of 136 All 136 (JSON)