# ER-LoRA: Effective-Rank Guided Adaptation for Weather-Generalized Depth Estimation

arXiv: https://arxiv.org/abs/2509.00665 · HTML: https://mlsanity.com/paper/2509.00665/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 66 of its 82 references that are in the map.
- First posted on arXiv 31 Aug 2025.

## Builds on (most cited first, 30 of 66)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [Adding Conditional Control to Text-to-Image Diffusion Models](https://mlsanity.com/paper/2302.05543/) (2023)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [The Power of Scale for Parameter-Efficient Prompt Tuning](https://mlsanity.com/paper/2104.08691/) (2021)
- [Delving Deep into Rectifiers: Surpassing Human-Level Performance on ImageNet Classification](https://mlsanity.com/paper/1502.01852/) (2015)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [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)
- [Unsupervised Learning of Depth and Ego-Motion from Video](https://mlsanity.com/paper/1704.07813/) (2017)
- [DoRA: Weight-Decomposed Low-Rank Adaptation](https://mlsanity.com/paper/2402.09353/) (2024)
- [AdaptFormer: Adapting Vision Transformers for Scalable Visual Recognition](https://mlsanity.com/paper/2205.13535/) (2022)
- [EVA: Exploring the Limits of Masked Visual Representation Learning at Scale](https://mlsanity.com/paper/2211.07636/) (2022)
- [Deeper Depth Prediction with Fully Convolutional Residual Networks](https://mlsanity.com/paper/1606.00373/) (2016)
- [Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimation](https://mlsanity.com/paper/2404.15506/) (2024)
- [Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation](https://mlsanity.com/paper/2312.02145/) (2023)
- [GeoWizard: Unleashing the Diffusion Priors for 3D Geometry Estimation from a Single Image](https://mlsanity.com/paper/2403.12013/) (2024)
- [Unleashing Text-to-Image Diffusion Models for Visual Perception](https://mlsanity.com/paper/2303.02153/) (2023)
- [PiSSA: Principal Singular Values and Singular Vectors Adaptation of Large Language Models](https://mlsanity.com/paper/2404.02948/) (2024)
- [The Temporal Opportunist: Self-Supervised Multi-Frame Monocular Depth](https://mlsanity.com/paper/2104.14540/) (2021)
- [MiDaS v3.1 -- A Model Zoo for Robust Monocular Relative Depth Estimation](https://mlsanity.com/paper/2307.14460/) (2023)
- [MonoViT: Self-Supervised Monocular Depth Estimation with a Vision Transformer](https://mlsanity.com/paper/2208.03543/) (2022)
- [Transformer-Based Attention Networks for Continuous Pixel-Wise Prediction](https://mlsanity.com/paper/2103.12091/) (2021)
- [DepthFormer: Exploiting Long-Range Correlation and Local Information for Accurate Monocular Depth Estimation](https://mlsanity.com/paper/2203.14211/) (2022)
- [Lite-Mono: A Lightweight CNN and Transformer Architecture for Self-Supervised Monocular Depth Estimation](https://mlsanity.com/paper/2211.13202/) (2022)
- [Canadian Adverse Driving Conditions Dataset](https://mlsanity.com/paper/2001.10117/) (2020)

## Built on by (most cited first, 4 of 4)

- [GlowGS: Generative Semantic Feature Learning for 3D Gaussian Splatting in Nighttime Glow Scenes](https://mlsanity.com/paper/2605.23602/) (2026)
- [Actor as Its Own Critic: Unifying Region Understanding and Localization via CycleGRPO](https://mlsanity.com/paper/2607.11581/) (2026)
- [PolarScale: A Physics-Grounded Benchmark for Radiometrically Consistent RGB-to-Stokes Estimation](https://mlsanity.com/paper/2610.08346/) (2026)
- [OpenDepth: Repurposing Image Editing Priors for Robust Open-World Monocular Depth Estimation](https://mlsanity.com/paper/2610.17610/) (2026)

## Abstract (arXiv)

Monocular depth estimation under adverse weather conditions (e.g. rain, fog, snow, and nighttime) remains highly challenging due to the lack of reliable ground truth and the difficulty of learning from unlabeled real-world data. Existing methods often rely on synthetic adverse data with pseudo-labels, which suffer from domain gaps, or employ self-supervised learning, which violates photometric assumptions in adverse scenarios. In this work, we propose to achieve weather-generalized depth estimation by Parameter-Efficient Fine-Tuning (PEFT) of Vision Foundation Models (VFMs), using only a small amount of high-visibility (normal) data. While PEFT has shown strong performance in semantic tasks such as segmentation, it remains underexplored for geometry -- centric tasks like depth estimation -- especially in terms of balancing effective adaptation with the preservation of pretrained knowledge. To this end, we introduce the Selecting-Tuning-Maintaining (STM) strategy, which structurally decomposes the pretrained weights of VFMs based on two kinds of effective ranks (entropy-rank and stable-rank). In the tuning phase, we adaptively select the proper rank number as well as the task-aware singular directions for initialization, based on the entropy-rank and full-tuned weight; while in the maintaining stage, we enforce a principal direction regularization based on the stable-rank. This design guarantees flexible task adaptation while preserving the strong generalization capability of the pretrained VFM. Extensive experiments on four real-world benchmarks across diverse weather conditions demonstrate that STM not only outperforms existing PEFT methods and full fine-tuning but also surpasses methods trained with adverse synthetic data, and even the depth foundation model