Systems and methods for depth estimation using monocular images

A non-transitory computer-readable medium for generating depth estimates of an environment depicted in a monocular image and including instructions that when executed by one or more processors cause the one or more processors to:

• process the monocular image according to a depth model to generate a depth map by:
• encoding the monocular image according to encoding layers of the depth model including iteratively encoding features of the monocular image to generate feature maps at successively refined representations using packing blocks within the encoding layers, and
• decoding the feature maps according to decoding layers of the depth model including iteratively decoding the features maps associated with separate ones of the packing blocks using unpacking blocks of the decoding layers to generate the depth map;
• and
• provide the depth map as the depth estimates of objects represented in the monocular image.

A method of generating depth estimates of an environment depicted in a monocular image, comprising:

• in response to receiving the monocular image, processing the monocular image according to a depth model to generate a depth map by:
• encoding the monocular image according to encoding layers of the depth model including iteratively encoding features of the monocular image to generate feature maps at successively refined representations using packing blocks within the encoding layers,
• decoding the feature maps according to decoding layers of the depth model including iteratively decoding the features maps associated with separate ones of the packing blocks using unpacking blocks of the decoding layers to generate the depth map;
• and
• providing the depth map as the depth estimates of objects represented in the monocular image.