Efficient Monocular Depth Estimation for Edge Devices in Internet of Things
Bibliographic record
Abstract
As an essential part of Internet of Things, monocular depth estimation (MDE) predicts dense depth maps from a single red-green-blue (RGB) image captured by monocular cameras. Past MDE methods almost focus on improving accuracy at the cost of increased latency, power consumption, and computational complexity, failing to balance accuracy and efficiency. Additionally, when speeding up depth estimation algorithms, researchers commonly ignore their adaptation to different hardware architectures on edge devices. This article aims to solve these challenges. First, we design an efficient MDE model for precise depth sensing on edge devices. Second, We employ a reinforcement learning algorithm and automatically prune redundant channels of MDE by finding a relatively optimal pruning policy. The pruning approach lowers model runtime and power consumption with little loss of accuracy through achieving a target pruning ratio. Finally, we accelerate the pruned MDE while adapting it to different hardware architectures with a compilation optimization method. The compilation optimization further reduces model runtime by an order of magnitude on hardware architectures. Extensive experiments confirm that our methods are effective for images of different sizes on two public datasets. The pruned and optimized MDE achieves promising depth sensing with a better tradeoff among model runtime, accuracy, computational complexity, and power consumption than the state of the arts on different hardware architectures.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".