# QuartDepth: Post-Training Quantization for Real-Time Depth Estimation on the Edge

arXiv: https://arxiv.org/abs/2503.16709 · HTML: https://mlsanity.com/paper/2503.16709/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- Builds on 71 of its 104 references that are in the map.
- First posted on arXiv 20 Mar 2025.

## Builds on (most cited first, 30 of 71)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [On the Opportunities and Risks of Foundation Models](https://mlsanity.com/paper/2108.07258/) (2021)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [Quantization and Training of Neural Networks for Efficient Integer-Arithmetic-Only Inference](https://mlsanity.com/paper/1712.05877/) (2017)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [Optimizing Neural Networks with Kronecker-factored Approximate Curvature](https://mlsanity.com/paper/1503.05671/) (2015)
- [ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depth](https://mlsanity.com/paper/2302.12288/) (2023)
- [Up or Down? Adaptive Rounding for Post-Training Quantization](https://mlsanity.com/paper/2004.10568/) (2020)
- [In-Datacenter Performance Analysis of a Tensor Processing Unit](https://mlsanity.com/paper/1704.04760/) (2017)
- [Hypersim: A Photorealistic Synthetic Dataset for Holistic Indoor Scene Understanding](https://mlsanity.com/paper/2011.02523/) (2020)
- [AdaBins: Depth Estimation using Adaptive Bins](https://mlsanity.com/paper/2011.14141/) (2020)
- [BRECQ: Pushing the Limit of Post-Training Quantization by Block Reconstruction](https://mlsanity.com/paper/2102.05426/) (2021)
- [Pseudo-LiDAR from Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Driving](https://mlsanity.com/paper/1812.07179/) (2018)
- [Quantized Neural Networks: Training Neural Networks with Low Precision Weights and Activations](https://mlsanity.com/paper/1609.07061/) (2016)
- [Unsupervised CNN for Single View Depth Estimation: Geometry to the Rescue](https://mlsanity.com/paper/1603.04992/) (2016)
- [Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Image](https://mlsanity.com/paper/2307.10984/) (2023)
- [Optimal Brain Compression: A Framework for Accurate Post-Training Quantization and Pruning](https://mlsanity.com/paper/2208.11580/) (2022)
- [DIODE: A Dense Indoor and Outdoor DEpth Dataset](https://mlsanity.com/paper/1908.00463/) (2019)
- [MOSE: A New Dataset for Video Object Segmentation in Complex Scenes](https://mlsanity.com/paper/2302.01872/) (2023)
- [MeViS: A Large-scale Benchmark for Video Segmentation with Motion Expressions](https://mlsanity.com/paper/2308.08544/) (2023)
- [Limitations of the Empirical Fisher Approximation for Natural Gradient Descent](https://mlsanity.com/paper/1905.12558/) (2019)
- [Learning to Recover 3D Scene Shape from a Single Image](https://mlsanity.com/paper/2012.09365/) (2020)
- [Low-bit Quantization of Neural Networks for Efficient Inference](https://mlsanity.com/paper/1902.06822/) (2019)
- [Pseudo-LiDAR++: Accurate Depth for 3D Object Detection in Autonomous Driving](https://mlsanity.com/paper/1906.06310/) (2019)
- [Integer Quantization for Deep Learning Inference: Principles and Empirical Evaluation](https://mlsanity.com/paper/2004.09602/) (2020)
- [Single-Image Depth Perception in the Wild](https://mlsanity.com/paper/1604.03901/) (2016)
- [QDrop: Randomly Dropping Quantization for Extremely Low-bit Post-Training Quantization](https://mlsanity.com/paper/2203.05740/) (2022)

## Built on by (most cited first, 8 of 8)

- [VOTE: Vision-Language-Action Optimization with Trajectory Ensemble Voting](https://mlsanity.com/paper/2507.05116/) (2025)
- [Structured Agent Distillation for Large Language Model](https://mlsanity.com/paper/2505.13820/) (2025)
- [Open-Source Multimodal Moxin Models with Moxin-VLM and Moxin-VLA](https://mlsanity.com/paper/2512.22208/) (2025)
- [Collaborative Compression for Large-Scale MoE Deployment on Edge](https://mlsanity.com/paper/2509.25689/) (2025)
- [Cat: Post-Training Quantization Error Reduction via Cluster-based Affine Transformation](https://mlsanity.com/paper/2509.26277/) (2025)
- [TT-SEAL: TTD-Aware Selective Encryption for Adversarially-Robust and Low-Latency Edge AI](https://mlsanity.com/paper/2602.22238/) (2026)
- [Fine-Tuning Qwen3-27B for C-to-Rust Code Translation: A Three-Stage Curriculum of Pretraining, Debugging-Aware SFT, and Task-Specific SFT](https://mlsanity.com/paper/2608.13681/) (2026)
- [From Patching to Pruning Visual Computation in Vision Language Models](https://mlsanity.com/paper/2610.03389/) (2026)

## Abstract (arXiv)

Monocular Depth Estimation (MDE) has emerged as a pivotal task in computer vision, supporting numerous real-world applications. However, deploying accurate depth estimation models on resource-limited edge devices, especially Application-Specific Integrated Circuits (ASICs), is challenging due to the high computational and memory demands. Recent advancements in foundational depth estimation deliver impressive results but further amplify the difficulty of deployment on ASICs. To address this, we propose QuartDepth which adopts post-training quantization to quantize MDE models with hardware accelerations for ASICs. Our approach involves quantizing both weights and activations to 4-bit precision, reducing the model size and computation cost. To mitigate the performance degradation, we introduce activation polishing and compensation algorithm applied before and after activation quantization, as well as a weight reconstruction method for minimizing errors in weight quantization. Furthermore, we design a flexible and programmable hardware accelerator by supporting kernel fusion and customized instruction programmability, enhancing throughput and efficiency. Experimental results demonstrate that our framework achieves competitive accuracy while enabling fast inference and higher energy efficiency on ASICs, bridging the gap between high-performance depth estimation and practical edge-device applicability. Code: https://github.com/shawnricecake/quart-depth