{"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/udepth-fast-monocular-depth-estimation-for","title":"UDepth: Fast Monocular Depth Estimation for Visually-guided Underwater Robots","arxiv_id":"2209.12358","date":"2022-09-26","proceeding":null,"authors":["Boxiao Yu","Jiayi Wu","Md Jahidul Islam"],"abstract":"In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain knowledge of image formation characteristics of natural underwater scenes. First, we adapt a new input space from raw RGB image space by exploiting underwater light attenuation prior, and then devise a least-squared formulation for coarse pixel-wise depth prediction. Subsequently, we extend this into a domain projection loss that guides the end-to-end learning of UDepth on over 9K RGB-D training samples. UDepth is designed with a computationally light MobileNetV2 backbone and a Transformer-based optimizer for ensuring fast inference rates on embedded systems. By domain-aware design choices and through comprehensive experimental analyses, we demonstrate that it is possible to achieve state-of-the-art depth estimation performance while ensuring a small computational footprint. Specifically, with 70%-80% less network parameters than existing benchmarks, UDepth achieves comparable and often better depth estimation performance. While the full model offers over 66 FPS (13 FPS) inference rates on a single GPU (CPU core), our domain projection for coarse depth prediction runs at 51.5 FPS rates on single-board NVIDIA Jetson TX2s. The inference pipelines are available at https://github.com/uf-robopi/UDepth.","url_abs":"https://arxiv.org/abs/2209.12358v2","url_pdf":"https://arxiv.org/pdf/2209.12358v2.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":"udepth-fast-monocular-depth-estimation-for","repo_url":"https://github.com/uf-robopi/udepth","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":null,"task_name":"CPU"},{"task_slug":"depth-estimation","task_name":"Depth Estimation"},{"task_slug":"depth-prediction","task_name":"Depth Prediction"},{"task_slug":null,"task_name":"GPU"},{"task_slug":"monocular-depth-estimation","task_name":"Monocular Depth Estimation"}],"methods":[{"method_slug":"1x1-convolution","method_name":"1x1 Convolution"},{"method_slug":"average-pooling","method_name":"Average Pooling"},{"method_slug":"batch-normalization","method_name":"Batch Normalization"},{"method_slug":"convolution","method_name":"Convolution"},{"method_slug":"depthwise-convolution","method_name":"Depthwise Convolution"},{"method_slug":"depthwise-separable-convolution","method_name":"Depthwise Separable Convolution"},{"method_slug":"inverted-residual-block","method_name":"Inverted Residual Block"},{"method_slug":"pointwise-convolution","method_name":"Pointwise Convolution"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}