SAP-Depth: Scene-Adaptive Probability Framework for Self-Supervised Monocular Depth Estimation

Abstract

Self-supervised monocular depth estimation remains challenging due to the loss of fine-grained details and limited adaptability to varying scene structures. In this paper, we propose SAP-Depth, a novel architecture based on Scene-Adaptive Probabilistic. Unlike traditional methods, we introduce a Dynamic Bins mechanism powered by a Learnable Parameter Predictor, which adaptively estimates scene-specific depth distributions conditioned on the input image context. Furthermore, a Bin-wise Probability Distribution Decoder is designed to effectively fuse multi-scale representations to predict dense depth probability distributions, significantly enhancing boundary sharpness and structural recovery. Through the collaborative coupling of these proposed modules, our model achieves dynamic prediction of scene-specific depth distributions. Extensive experiments on the KITTI dataset show that SAP-Depth outperforms existing state-of-the-art methods in accuracy, particularly in its ability to better preserve complex edge details. Further, tests on the Make3D dataset validate the model's excellent generalization capability and robustness.