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A typical monocular depth estimator is trained for a single camera, so itsperformance drops severely on images taken with different cameras. To addressthis issue, we propose a versatile depth estimator (VDE), composed of a commonrelative depth estimator (CRDE) and multiple relative-to-metric converters(R2MCs). The CRDE extracts relative depth information, and each R2MC convertsthe relative information to predict metric depths for a specific camera. Theproposed VDE can cope with diverse scenes, including both indoor and outdoorscenes, with only a 1.12\% parameter increase per camera. Experimental resultsdemonstrate that VDE supports multiple cameras effectively and efficiently andalso achieves state-of-the-art performance in the conventional single-camerascenario.

Versatile Depth Estimator Based on Common Relative Depth Estimation and Camera-Specific Relative-to-Metric Depth Conversion