{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/gradient-based-uncertainty-for-monocular","title":"Gradient-based Uncertainty for Monocular Depth Estimation","arxiv_id":"2208.02005","date":"2022-08-03","proceeding":null,"authors":["Julia Hornauer","Vasileios Belagiannis"],"abstract":"In monocular depth estimation, disturbances in the image context, like moving objects or reflecting materials, can easily lead to erroneous predictions. For that reason, uncertainty estimates for each pixel are necessary, in particular for safety-critical applications such as automated driving. We propose a post hoc uncertainty estimation approach for an already trained and thus fixed depth estimation model, represented by a deep neural network. The uncertainty is estimated with the gradients which are extracted with an auxiliary loss function. To avoid relying on ground-truth information for the loss definition, we present an auxiliary loss function based on the correspondence of the depth prediction for an image and its horizontally flipped counterpart. Our approach achieves state-of-the-art uncertainty estimation results on the KITTI and NYU Depth V2 benchmarks without the need to retrain the neural network. Models and code are publicly available at https://github.com/jhornauer/GrUMoDepth.","url_abs":"https://arxiv.org/abs/2208.02005v1","url_pdf":"https://arxiv.org/pdf/2208.02005v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"gradient-based-uncertainty-for-monocular","repo_url":"https://github.com/jhornauer/grumodepth","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"Apache-2.0"}}],"tasks":[{"task_slug":"depth-estimation","task_name":"Depth Estimation"},{"task_slug":"depth-prediction","task_name":"Depth Prediction"},{"task_slug":"monocular-depth-estimation","task_name":"Monocular Depth Estimation"}],"methods":[{"method_slug":"hoc","method_name":"HOC"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2208.02005","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2208.02005"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/jhornauer/grumodepth","reach":{"status":"ok","spdx":"Apache-2.0"}},{"provenance":"deterministic:regex_extraction","url":"https://github.com/jhornauer/GrUMoDepth","reach":{"status":"ok","spdx":"Apache-2.0"}}],"summary":{"unverified":1},"by_repo_kind":{"official":{"samples":1,"ran":0,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"38ba113f9aa7af72","entry":"DepthUncertaintyDecoder_Supervised","repo":"jhornauer/GrUMoDepth","repo_kind":"official","path":"networks/decoder_supervised.py","file_url":"https://github.com/jhornauer/GrUMoDepth/blob/HEAD/networks/decoder_supervised.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"38ba113f9aa7af72"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}