In monocular depth estimation networks, depth information must be inferred by modeling spatial relationships between points within the image. However, existing networks often struggle to effectively capture both local details and global spatial context. Moreover, due to biases in the dataset, the network learns these biases during training, resulting in limited model generalizability. Therefore, we propose a dynamic hybrid CNN and Transformer network for self-supervised monocular depth estimation. First, we propose a Dual-Dynamic Tanh (DDT) module, a parallel-structured hybrid architecture combining CNN and Transformer. It incorporates a Dynamic Tanh function to enhance self-attention computation, significantly improving the model’s precision for small object prediction. Second, we conducted extensive experiments on both the KITTI and Make3D datasets. Finally, on the KITTI dataset, our proposed network outperforms GeoNet, DF-Net, Monodepth2, LiteMono, and GC-Depth by margins of 8.42%, 7.07%, 2.13%, 0.47%, and 0.70% respectively in the δ<1.25 metric.
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