# Versatile Depth Estimator Based on Common Relative Depth Estimation and Camera-Specific Relative-to-Metric Depth Conversion

arXiv: https://arxiv.org/abs/2303.10991 · HTML: https://mlsanity.com/paper/2303.10991/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 39 of its 57 references that are in the map.
- First posted on arXiv 20 Mar 2023.

## Builds on (most cited first, 30 of 39)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Layer Normalization](https://mlsanity.com/paper/1607.06450/) (2016)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [Pyramid Scene Parsing Network](https://mlsanity.com/paper/1612.01105/) (2016)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [Per-Pixel Classification is Not All You Need for Semantic Segmentation](https://mlsanity.com/paper/2107.06278/) (2021)
- [MegaDepth: Learning Single-View Depth Prediction from Internet Photos](https://mlsanity.com/paper/1804.00607/) (2018)
- [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)
- [Predicting Depth, Surface Normals and Semantic Labels with a Common Multi-Scale Convolutional Architecture](https://mlsanity.com/paper/1411.4734/) (2014)
- [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)
- [DIODE: A Dense Indoor and Outdoor DEpth Dataset](https://mlsanity.com/paper/1908.00463/) (2019)
- [Enforcing geometric constraints of virtual normal for depth prediction](https://mlsanity.com/paper/1907.12209/) (2019)
- [3D Photography using Context-aware Layered Depth Inpainting](https://mlsanity.com/paper/2004.04727/) (2020)
- [Single-Image Depth Perception in the Wild](https://mlsanity.com/paper/1604.03901/) (2016)
- [Revisiting Single Image Depth Estimation: Toward Higher Resolution Maps with Accurate Object Boundaries](https://mlsanity.com/paper/1803.08673/) (2018)
- [RegionViT: Regional-to-Local Attention for Vision Transformers](https://mlsanity.com/paper/2106.02689/) (2021)
- [Transformer-Based Attention Networks for Continuous Pixel-Wise Prediction](https://mlsanity.com/paper/2103.12091/) (2021)
- [Learning the Depths of Moving People by Watching Frozen People](https://mlsanity.com/paper/1904.11111/) (2019)
- [P3Depth: Monocular Depth Estimation with a Piecewise Planarity Prior](https://mlsanity.com/paper/2204.02091/) (2022)
- [Attention Attention Everywhere: Monocular Depth Prediction with Skip Attention](https://mlsanity.com/paper/2210.09071/) (2022)

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

- [Masked Spatial Propagation Network for Sparsity-Adaptive Depth Refinement](https://mlsanity.com/paper/2404.19294/) (2024)

## Abstract (arXiv)

A typical monocular depth estimator is trained for a single camera, so its performance drops severely on images taken with different cameras. To address this issue, we propose a versatile depth estimator (VDE), composed of a common relative depth estimator (CRDE) and multiple relative-to-metric converters (R2MCs). The CRDE extracts relative depth information, and each R2MC converts the relative information to predict metric depths for a specific camera. The proposed VDE can cope with diverse scenes, including both indoor and outdoor scenes, with only a 1.12% parameter increase per camera. Experimental results demonstrate that VDE supports multiple cameras effectively and efficiently and also achieves state-of-the-art performance in the conventional single-camera scenario.