LapCR-Net: A Lightweight Monocular Depth Estimation Network via Laplacian Residual Reconstruction

Engineering notes

Extensive experiments on the NYU-Depth V2 and KITTI benchmarks demonstrate that LapCR-Net achieves competitive performance with only 5.4 M parameters.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。

Original abstract

Monocular depth estimation plays a crucial role in applications such as autonomous driving and mobile 3D reconstruction. However, existing lightweight methods are often constrained by limited computational resources and rely on shallow feature representations for direct depth regression. As a result, cross-scale residual information is insufficiently modeled, which limits their ability to preserve structural consistency and recover fine-grained details in complex scenes. To address these challenges, we propose LapCR-Net, a lightweight monocular depth estimation network based on Laplacian residual reconstruction. Specifically, we formulate a progressive Laplacian residual framework that decomposes depth prediction into a coarse-to-fine multi-scale refinement process. To enhance feature representation in the decoder, we introduce a Structure-aware Feature Recalibration (SFR) module and a Depth-guided Convolution Module (DCM), which strengthen spatial semantic correlations and improve residual prediction across scales. Furthermore, we design an uncertainty-driven collaborative refinement strategy to adaptively adjust residual correction strength. By estimating prediction uncertainty, the proposed strategy sharpens object boundaries while suppressing texture artifacts. Extensive experiments on the NYU-Depth V2 and KITTI benchmarks demonstrate that LapCR-Net achieves competitive performance with only 5.4 M parameters. In particular, it shows clear advantages in structural preservation and detail reconstruction, achieving a favorable trade-off between accuracy and computational efficiency.

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