XiDepth: a Lightweight and Efficient Network for Self-supervised Monocular Depth Estimation

Abstract

Self-supervised monocular depth estimation has emerged as an appealing solution to design lightweight and effective models for deployment on computationally constrained devices due to its reduced reliance on expensive depth sensors. By eliminating the need for ground-truth annotations and leveraging the simplicity of monocular camera setups, this approach facilitates cost-effective data collection and broad applicability across fields such as computer vision and robotics. A critical challenge is achieving resource-efficient neural networks without compromising the overall performance. State-of-the-art models generally adopt depth-wise convolutions and attention mechanisms; however, these functions often incur high energy costs and face compatibility issues in embedded environments. To address this, we propose XiDepth, a lightweight architecture based on the XiNet operator block, designed to enhance feature extraction while maintaining low computational complexity and energy demand. On the KITTI dataset, XiDepth achieves state-of-the-art performance with only 0.8M parameters. Tests on a Raspberry Pi 4 further confirm its suitability for real-world embedded applications, reducing FLOPs by 40% and energy consumption by 35% compared to leading methods.