# Depth Monocular Estimation with Attention-based Encoder-Decoder Network from Single Image

arXiv: https://arxiv.org/abs/2210.13646 · HTML: https://mlsanity.com/paper/2210.13646/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 25 of its 55 references that are in the map.
- First posted on arXiv 24 Oct 2022.

## Builds on (most cited first, 25 of 25)

- [Densely Connected Convolutional Networks](https://mlsanity.com/paper/1608.06993/) (2016)
- [Sequence to Sequence Learning with Neural Networks](https://mlsanity.com/paper/1409.3215/) (2014)
- [CBAM: Convolutional Block Attention Module](https://mlsanity.com/paper/1807.06521/) (2018)
- [Rethinking Atrous Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1706.05587/) (2017)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [Unsupervised Monocular Depth Estimation with Left-Right Consistency](https://mlsanity.com/paper/1609.03677/) (2016)
- [Deep Ordinal Regression Network for Monocular Depth Estimation](https://mlsanity.com/paper/1806.02446/) (2018)
- [Deeper Depth Prediction with Fully Convolutional Residual Networks](https://mlsanity.com/paper/1606.00373/) (2016)
- [From Big to Small: Multi-Scale Local Planar Guidance for Monocular Depth Estimation](https://mlsanity.com/paper/1907.10326/) (2019)
- [GeoNet: Unsupervised Learning of Dense Depth, Optical Flow and Camera Pose](https://mlsanity.com/paper/1803.02276/) (2018)
- [Enforcing geometric constraints of virtual normal for depth prediction](https://mlsanity.com/paper/1907.12209/) (2019)
- [Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Image](https://mlsanity.com/paper/1709.07492/) (2017)
- [Revisiting Single Image Depth Estimation: Toward Higher Resolution Maps with Accurate Object Boundaries](https://mlsanity.com/paper/1803.08673/) (2018)
- [High Quality Monocular Depth Estimation via Transfer Learning](https://mlsanity.com/paper/1812.11941/) (2018)
- [Semi-Supervised Deep Learning for Monocular Depth Map Prediction](https://mlsanity.com/paper/1702.02706/) (2017)
- [Guiding Monocular Depth Estimation Using Depth-Attention Volume](https://mlsanity.com/paper/2004.02760/) (2020)
- [Multi-Scale Continuous CRFs as Sequential Deep Networks for Monocular Depth Estimation](https://mlsanity.com/paper/1704.02157/) (2017)
- [Monocular Depth Estimation Based On Deep Learning: An Overview](https://mlsanity.com/paper/2003.06620/) (2020)
- [Detail Preserving Depth Estimation from a Single Image Using Attention Guided Networks](https://mlsanity.com/paper/1809.00646/) (2018)
- [Binary TTC: A Temporal Geofence for Autonomous Navigation](https://mlsanity.com/paper/2101.04777/) (2021)
- [Attention-based Context Aggregation Network for Monocular Depth Estimation](https://mlsanity.com/paper/1901.10137/) (2019)
- [Survey on the attention based RNN model and its applications in computer vision](https://mlsanity.com/paper/1601.06823/) (2016)
- [Signal Recovery from Pooling Representations](https://mlsanity.com/paper/1311.4025/) (2013)
- [Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot](https://mlsanity.com/paper/2002.06302/) (2020)
- [Forward Collision Vehicular Radar with IEEE 802.11: Feasibility Demonstration through Measurements](https://mlsanity.com/paper/1702.03351/) (2017)

## Built on by (most cited first, 1 of 1)

- [A Two-Stage Framework for Ego-Centric Key Object Identification via Object State Prediction](https://mlsanity.com/paper/2609.07125/) (2026)

## Abstract (arXiv)

Depth information is the foundation of perception, essential for autonomous driving, robotics, and other source-constrained applications. Promptly obtaining accurate and efficient depth information allows for a rapid response in dynamic environments. Sensor-based methods using LIDAR and RADAR obtain high precision at the cost of high power consumption, price, and volume. While due to advances in deep learning, vision-based approaches have recently received much attention and can overcome these drawbacks. In this work, we explore an extreme scenario in vision-based settings: estimate a depth map from one monocular image severely plagued by grid artifacts and blurry edges. To address this scenario, We first design a convolutional attention mechanism block (CAMB) which consists of channel attention and spatial attention sequentially and insert these CAMBs into skip connections. As a result, our novel approach can find the focus of current image with minimal overhead and avoid losses of depth features. Next, by combining the depth value, the gradients of X axis, Y axis and diagonal directions, and the structural similarity index measure (SSIM), we propose our novel loss function. Moreover, we utilize pixel blocks to accelerate the computation of the loss function. Finally, we show, through comprehensive experiments on two large-scale image datasets, i.e. KITTI and NYU-V2, that our method outperforms several representative baselines.