# Efficient Depth Estimation for Unstable Stereo Camera Systems on AR Glasses

arXiv: https://arxiv.org/abs/2411.10013 · HTML: https://mlsanity.com/paper/2411.10013/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 18 of its 33 references that are in the map.
- First posted on arXiv 15 Nov 2024.

## Builds on (most cited first, 18 of 18)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [Multi-Task Learning Using Uncertainty to Weigh Losses for Scene Geometry and Semantics](https://mlsanity.com/paper/1705.07115/) (2017)
- [A Large Dataset to Train Convolutional Networks for Disparity, Optical Flow, and Scene Flow Estimation](https://mlsanity.com/paper/1512.02134/) (2015)
- [MVSNet: Depth Inference for Unstructured Multi-view Stereo](https://mlsanity.com/paper/1804.02505/) (2018)
- [End-to-End Learning of Geometry and Context for Deep Stereo Regression](https://mlsanity.com/paper/1703.04309/) (2017)
- [Project Aria: A New Tool for Egocentric Multi-Modal AI Research](https://mlsanity.com/paper/2308.13561/) (2023)
- [Aria Digital Twin: A New Benchmark Dataset for Egocentric 3D Machine Perception](https://mlsanity.com/paper/2306.06362/) (2023)
- [DynamicStereo: Consistent Dynamic Depth from Stereo Videos](https://mlsanity.com/paper/2305.02296/) (2023)
- [Selective-Stereo: Adaptive Frequency Information Selection for Stereo Matching](https://mlsanity.com/paper/2403.00486/) (2024)
- [MobileStereoNet: Towards Lightweight Deep Networks for Stereo Matching](https://mlsanity.com/paper/2108.09770/) (2021)
- [One Shot 3D Photography](https://mlsanity.com/paper/2008.12298/) (2020)
- [Neural Network Quantization with AI Model Efficiency Toolkit (AIMET)](https://mlsanity.com/paper/2201.08442/) (2022)
- [XRBench: An Extended Reality (XR) Machine Learning Benchmark Suite for the Metaverse](https://mlsanity.com/paper/2211.08675/) (2022)
- [A Practical Stereo Depth System for Smart Glasses](https://mlsanity.com/paper/2211.10551/) (2022)
- [Robotic Occlusion Reasoning for Efficient Object Existence Prediction](https://mlsanity.com/paper/2107.12095/) (2021)

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

- [Weather-Conditioned Depth Anything](https://mlsanity.com/paper/2609.04827/) (2026)

## Abstract (arXiv)

Stereo depth estimation is a fundamental component in augmented reality (AR), which requires low latency for real-time processing. However, preprocessing such as rectification and non-ML computations such as cost volume require significant amount of latency exceeding that of an ML model itself, which hinders the real-time processing required by AR. Therefore, we develop alternative approaches to the rectification and cost volume that consider ML acceleration (GPU and NPUs) in recent hardware. For pre-processing, we eliminate it by introducing homography matrix prediction network with a rectification positional encoding (RPE), which delivers both low latency and robustness to unrectified images. For cost volume, we replace it with a group-pointwise convolution-based operator and approximation of cosine similarity based on layernorm and dot product. Based on our approaches, we develop MultiHeadDepth (replacing cost volume) and HomoDepth (MultiHeadDepth + removing pre-processing) models. MultiHeadDepth provides 11.8-30.3% improvements in accuracy and 22.9-25.2% reduction in latency compared to a state-of-the-art depth estimation model for AR glasses from industry. HomoDepth, which can directly process unrectified images, reduces the end-to-end latency by 44.5%. We also introduce a multi-task learning method to handle misaligned stereo inputs on HomoDepth, which reduces the AbsRel error by 10.0-24.3%. The overall results demonstrate the efficacy of our approaches, which not only reduce the inference latency but also improve the model performance. Our code is available at https://github.com/UCI-ISA-Lab/MultiHeadDepth-HomoDepth