LangDepth: Vision-Language Scene Priors for Semantic Binning and Cross-Domain Monocular Depth Estimation

원문 초록

Monocular depth estimation has advanced through large-scale pretraining and strong visual backbones, yet metric depth remains sensitive to scene-level scale. Indoor rooms and outdoor driving scenes occupy very different depth ranges, but most depth decoders infer this global structure implicitly from visual features. We ask whether scene-level semantic structure can instead act as an upstream prior that shapes the metric output space before dense prediction. We present LangDepth (SemanticBins), a monocular depth architecture that couples strong visual features with a scene-conditioned output space. A frozen CLIP encoder and a learnable bank of scene- and geometry-oriented concept keys convert image features into a compact scene descriptor, without requiring per-image text or an external captioner. A Scene Prior Module (SPM) maps this descriptor to a scene-conditioned metric depth interval, providing a global range anchor before dense decoding. In parallel, a DINOv2-L backbone with a lightweight FPN extracts dense visual features, and a Per-Pixel Assignment Network (PPAN) assigns pixels to the scene-prescribed bin structure. A confidence gate fuses the dense visual estimate with the SPM prior. We train LangDepth jointly on NYU Depth V2 and KITTI under a modest supervised depth budget, without web-scale depth supervision or pseudo-labelled depth data. A single model achieves delta_1 = 0.960 on NYU, 0.960 on KITTI, 0.887 on DIODE indoor, 0.946 on iBims-1, and 0.861 on SUN RGB-D. Beyond aggregate accuracy, the SPM predicts compact indoor ranges and much wider outdoor KITTI ranges, the gate becomes SPM-dominant on outdoor scenes, and perturbing the routed scene context causes large drops on KITTI and iBims-1. These results support scene-conditioned output spaces as a practical and interpretable mechanism for cross-domain monocular depth estimation.