# High-Precision Self-Supervised Monocular Depth Estimation with Rich-Resource Prior

arXiv: https://arxiv.org/abs/2408.00361 · HTML: https://mlsanity.com/paper/2408.00361/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 40 references that are in the map.
- First posted on arXiv 1 Aug 2024.

## Builds on (most cited first, 30 of 32)

- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [Unsupervised Learning of Depth and Ego-Motion from Video](https://mlsanity.com/paper/1704.07813/) (2017)
- [Predicting Depth, Surface Normals and Semantic Labels with a Common Multi-Scale Convolutional Architecture](https://mlsanity.com/paper/1411.4734/) (2014)
- [3D Packing for Self-Supervised Monocular Depth Estimation](https://mlsanity.com/paper/1905.02693/) (2019)
- [From Big to Small: Multi-Scale Local Planar Guidance for Monocular Depth Estimation](https://mlsanity.com/paper/1907.10326/) (2019)
- [Unsupervised CNN for Single View Depth Estimation: Geometry to the Rescue](https://mlsanity.com/paper/1603.04992/) (2016)
- [Competitive Collaboration: Joint Unsupervised Learning of Depth, Camera Motion, Optical Flow and Motion Segmentation](https://mlsanity.com/paper/1805.09806/) (2018)
- [High-Resolution Representations for Labeling Pixels and Regions](https://mlsanity.com/paper/1904.04514/) (2019)
- [DeMoN: Depth and Motion Network for Learning Monocular Stereo](https://mlsanity.com/paper/1612.02401/) (2016)
- [The Temporal Opportunist: Self-Supervised Multi-Frame Monocular Depth](https://mlsanity.com/paper/2104.14540/) (2021)
- [On the uncertainty of self-supervised monocular depth estimation](https://mlsanity.com/paper/2005.06209/) (2020)
- [Depth from Videos in the Wild: Unsupervised Monocular Depth Learning from Unknown Cameras](https://mlsanity.com/paper/1904.04998/) (2019)
- [DF-Net: Unsupervised Joint Learning of Depth and Flow using Cross-Task Consistency](https://mlsanity.com/paper/1809.01649/) (2018)
- [MonoViT: Self-Supervised Monocular Depth Estimation with a Vision Transformer](https://mlsanity.com/paper/2208.03543/) (2022)
- [Self-Supervised Monocular Depth Hints](https://mlsanity.com/paper/1909.09051/) (2019)
- [HR-Depth: High Resolution Self-Supervised Monocular Depth Estimation](https://mlsanity.com/paper/2012.07356/) (2020)
- [Lite-Mono: A Lightweight CNN and Transformer Architecture for Self-Supervised Monocular Depth Estimation](https://mlsanity.com/paper/2211.13202/) (2022)
- [A Survey on Deep Learning Techniques for Stereo-based Depth Estimation](https://mlsanity.com/paper/2006.02535/) (2020)
- [Unsupervised Monocular Depth Learning in Dynamic Scenes](https://mlsanity.com/paper/2010.16404/) (2020)
- [How do neural networks see depth in single images?](https://mlsanity.com/paper/1905.07005/) (2019)
- [Self-Supervised Monocular Depth Estimation with Internal Feature Fusion](https://mlsanity.com/paper/2110.09482/) (2021)
- [SuperDepth: Self-Supervised, Super-Resolved Monocular Depth Estimation](https://mlsanity.com/paper/1810.01849/) (2018)
- [Multi-Frame Self-Supervised Depth with Transformers](https://mlsanity.com/paper/2204.07616/) (2022)
- [Disentangling Object Motion and Occlusion for Unsupervised Multi-frame Monocular Depth](https://mlsanity.com/paper/2203.15174/) (2022)
- [Learning monocular depth estimation with unsupervised trinocular assumptions](https://mlsanity.com/paper/1808.01606/) (2018)
- [UnRectDepthNet: Self-Supervised Monocular Depth Estimation using a Generic Framework for Handling Common Camera Distortion Models](https://mlsanity.com/paper/2007.06676/) (2020)
- [RM-Depth: Unsupervised Learning of Recurrent Monocular Depth in Dynamic Scenes](https://mlsanity.com/paper/2303.04456/) (2023)
- [Depthformer : Multiscale Vision Transformer For Monocular Depth Estimation With Local Global Information Fusion](https://mlsanity.com/paper/2207.04535/) (2022)
- [Self-Supervised Joint Learning Framework of Depth Estimation via Implicit Cues](https://mlsanity.com/paper/2006.09876/) (2020)
- [Self-distilled Feature Aggregation for Self-supervised Monocular Depth Estimation](https://mlsanity.com/paper/2209.07088/) (2022)

## Built on by (most cited first, 2 of 2)

- [Jasmine: Harnessing Diffusion Prior for Self-supervised Depth Estimation](https://mlsanity.com/paper/2503.15905/) (2025)
- [Hybrid-grained Feature Aggregation with Coarse-to-fine Language Guidance for Self-supervised Monocular Depth Estimation](https://mlsanity.com/paper/2510.09320/) (2025)

## Abstract (arXiv)

In the area of self-supervised monocular depth estimation, models that utilize rich-resource inputs, such as high-resolution and multi-frame inputs, typically achieve better performance than models that use ordinary single image input. However, these rich-resource inputs may not always be available, limiting the applicability of these methods in general scenarios. In this paper, we propose Rich-resource Prior Depth estimator (RPrDepth), which only requires single input image during the inference phase but can still produce highly accurate depth estimations comparable to rich resource based methods. Specifically, we treat rich-resource data as prior information and extract features from it as reference features in an offline manner. When estimating the depth for a single-image image, we search for similar pixels from the rich-resource features and use them as prior information to estimate the depth. Experimental results demonstrate that our model outperform other single-image model and can achieve comparable or even better performance than models with rich-resource inputs, only using low-resolution single-image input.