No Pose Estimation? No Problem: Pose-Agnostic and Instance-Aware Test-Time Adaptation for Monocular Depth Estimation

• URL: http://arxiv.org/abs/2511.05055v1
• Date: Fri, 07 Nov 2025 07:55:02 GMT
• Title: No Pose Estimation? No Problem: Pose-Agnostic and Instance-Aware Test-Time Adaptation for Monocular Depth Estimation
• Authors: Mingyu Sung, Hyeonmin Choe, Il-Min Kim, Sangseok Yun, Jae Mo Kang,
• Abstract summary: Test-time (domain) adaptation (TTA) is one of the compelling and practical approaches to address the issue.<n>We propose a novel and high-performing TTA framework for MDE, named PITTA.<n>Our approach incorporates two key innovative strategies: (i) pose-agnostic TTA paradigm for MDE and (ii) instance-aware image masking.
• Score: 7.436063412302697
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Monocular depth estimation (MDE), inferring pixel-level depths in single RGB images from a monocular camera, plays a crucial and pivotal role in a variety of AI applications demanding a three-dimensional (3D) topographical scene. In the real-world scenarios, MDE models often need to be deployed in environments with different conditions from those for training. Test-time (domain) adaptation (TTA) is one of the compelling and practical approaches to address the issue. Although there have been notable advancements in TTA for MDE, particularly in a self-supervised manner, existing methods are still ineffective and problematic when applied to diverse and dynamic environments. To break through this challenge, we propose a novel and high-performing TTA framework for MDE, named PITTA. Our approach incorporates two key innovative strategies: (i) pose-agnostic TTA paradigm for MDE and (ii) instance-aware image masking. Specifically, PITTA enables highly effective TTA on a pretrained MDE network in a pose-agnostic manner without resorting to any camera pose information. Besides, our instance-aware masking strategy extracts instance-wise masks for dynamic objects (e.g., vehicles, pedestrians, etc.) from a segmentation mask produced by a pretrained panoptic segmentation network, by removing static objects including background components. To further boost performance, we also present a simple yet effective edge extraction methodology for the input image (i.e., a single monocular image) and depth map. Extensive experimental evaluations on DrivingStereo and Waymo datasets with varying environmental conditions demonstrate that our proposed framework, PITTA, surpasses the existing state-of-the-art techniques with remarkable performance improvements in MDE during TTA.

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