# Neuromorphic Monocular Depth Estimation with Uncertainty Modeling

arXiv: https://arxiv.org/abs/2605.10675 · HTML: https://mlsanity.com/paper/2605.10675/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 21 of its 31 references that are in the map.
- First posted on arXiv 11 May 2026.

## Builds on (most cited first, 21 of 21)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [Event-based Vision: A Survey](https://mlsanity.com/paper/1904.08405/) (2019)
- [Evidential Deep Learning to Quantify Classification Uncertainty](https://mlsanity.com/paper/1806.01768/) (2018)
- [Deep Evidential Regression](https://mlsanity.com/paper/1910.02600/) (2019)
- [Unsupervised Event-based Learning of Optical Flow, Depth, and Egomotion](https://mlsanity.com/paper/1812.08156/) (2018)
- [The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception](https://mlsanity.com/paper/1801.10202/) (2018)
- [A Unifying Contrast Maximization Framework for Event Cameras, with Applications to Motion, Depth, and Optical Flow Estimation](https://mlsanity.com/paper/1804.01306/) (2018)
- [Transformer-Based Attention Networks for Continuous Pixel-Wise Prediction](https://mlsanity.com/paper/2103.12091/) (2021)
- [Secrets of Event-Based Optical Flow](https://mlsanity.com/paper/2207.10022/) (2022)
- [Combining Events and Frames using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction](https://mlsanity.com/paper/2102.09320/) (2021)
- [Learning Monocular Dense Depth from Events](https://mlsanity.com/paper/2010.08350/) (2020)
- [Focus Is All You Need: Loss Functions For Event-based Vision](https://mlsanity.com/paper/1904.07235/) (2019)
- [Time-Ordered Recent Event (TORE) Volumes for Event Cameras](https://mlsanity.com/paper/2103.06108/) (2021)
- [Semi-Dense 3D Reconstruction with a Stereo Event Camera](https://mlsanity.com/paper/1807.07429/) (2018)
- [Uncertainty Quantification Metrics for Deep Regression](https://mlsanity.com/paper/2405.04278/) (2024)
- [BlinkVision: A Benchmark for Optical Flow, Scene Flow and Point Tracking Estimation using RGB Frames and Events](https://mlsanity.com/paper/2410.20451/) (2024)
- [Exploring Event-based Human Pose Estimation with 3D Event Representations](https://mlsanity.com/paper/2311.04591/) (2023)
- [Learning Monocular Depth from Events via Egomotion Compensation](https://mlsanity.com/paper/2412.19067/) (2024)
- [Active Event Alignment for Monocular Distance Estimation](https://mlsanity.com/paper/2410.22280/) (2024)

## Abstract (arXiv)

Event cameras offer distinct advantages over conventional frame-based sensors, including microsecond-level temporal resolution, high dynamic range, and low bandwidth. In this paper, we predict per-pixel depth distributions from monocular event streams using deep neural networks. We estimate uncertainty using Gaussian, log-normal, and evidential learning frameworks. We compare six event representations: spatio-temporal voxel grids with 1, 5, 10, and 20 temporal bins, the Compact Spatio-Temporal Representation (CSTR), and Time-Ordered Recent Event (TORE) volumes. Our U-Net-based models are trained on synthetic data and then fine-tuned on real sequences. We evaluate performance using absolute relative error, root mean squared error, and the area under the sparsification error. Quantitative results show that the representations perform similarly, while 10 bin log-normal and 5 bin evidential learning perform best across metrics. Our experiments demonstrate that uncertainty estimation can be successfully integrated into event-based monocular depth estimation, and be used to indicate pixels with reliable depth.