Event-Based Monocular Depth Estimation With Recurrent Transformers

Event cameras, offering high temporal resolutions and high dynamic ranges, have brought a new perspective to address common challenges in monocular depth estimation (e.g., motion blur and low light). However, existing CNN-based methods insufficiently exploit global spatial information from asynchronous events, while RNN-based methods show a limited capacity for effective temporal cues utilization for event-based monocular depth estimation. To this end, we propose a event-based monocular depth estimator with recurrent transformers, namely EReFormer. Technically, we first design a transformer-based encoder-decoder that utilizes multi-scale features to model global spatial information from events. Then, we propose a Gate Recurrent Vision Transformer (GRViT), introducing a recursive mechanism into transformers, to leverage rich temporal cues from events. Finally, we present a Cross Attention-guided Skip Connection (CASC), performing cross attention to fuse multi-scale features, to improve global spatial modeling capabilities. The experimental results show that our EReFormer outperforms state-of-the-art methods by a margin on both synthetic and real-world datasets. Our open-source code is available at https://github.com/liuxu0303/EReFormer.