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Data & Analytics
ZoeDepth
ZoeDepth logo
Data & Analytics

ZoeDepth

ZoeDepth is an advanced, open-source monocular depth estimation model developed by researchers at Intel Labs and the University of Toronto. It transforms a single 2D image into a detailed depth map, effectively creating a 3D representation of the scene. Unlike earlier models that offered a one-size-fits-all approach, ZoeDepth introduces a novel multi-head architecture with separate encoders for metric and relative depth estimation, allowing it to produce highly accurate, metric-aware depth predictions without requiring camera intrinsics. It is designed for robustness across diverse scenes, from indoor environments to outdoor landscapes. The model is particularly valuable for applications in robotics, augmented reality, 3D reconstruction, and computational photography, where understanding scene geometry from a single viewpoint is critical. Its release as a pre-trained model on GitHub makes state-of-the-art depth estimation accessible to developers, researchers, and hobbyists for integration into various projects.

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Key Features

Metric-Aware Depth Estimation

Produces depth maps in absolute, real-world metric units (e.g., meters) from a single RGB image, without requiring camera calibration parameters as input.

Multi-Head Transformer Architecture

Employs a dual-branch design with separate transformer-based heads trained for metric and relative depth tasks, whose outputs are adaptively fused.

Zero-Shot Cross-Dataset Generalization

The pre-trained models demonstrate strong performance on datasets they were not explicitly trained on, handling varied indoor and outdoor scenes robustly.

High-Resolution Output

Generates dense, detailed depth maps that preserve fine structures and object boundaries at the native resolution of the input image.

Comprehensive Training Framework

The open-source release includes not just inference code but full training scripts, loss functions, and data loaders.

Pricing

Open Source / Research

$0
  • ✓Full access to all pre-trained model weights (ZoeD_N, ZoeD_K, ZoeD_NK).
  • ✓Complete source code for inference, training, and evaluation.
  • ✓Freedom to use, modify, and distribute for any purpose, including commercial, under the MIT License.
  • ✓No user limits, seat restrictions, or API quotas.
  • ✓Community support via GitHub Issues.

Use Cases

1

Augmented Reality (AR) Scene Understanding

AR developers use ZoeDepth to understand the 3D geometry of a user's environment from their smartphone camera feed. The metric depth map allows virtual objects to be placed with correct scale, occlusion, and lighting interactions, making them appear anchored in the real world. This enhances user immersion in applications ranging from gaming to furniture visualization.

2

Robotics Navigation and Manipulation

Roboticists integrate ZoeDepth into perception systems for drones or mobile robots. By estimating the distance to obstacles, floors, and objects from a single camera, robots can perform tasks like obstacle avoidance, path planning, and bin picking without needing expensive LiDAR or stereo cameras. This reduces system cost and complexity while maintaining robust spatial awareness.

3

Computational Photography & Smartphone Cameras

Camera software engineers employ ZoeDepth to enable portrait-mode effects and advanced image editing. By creating an accurate depth map of a scene, the software can selectively blur backgrounds (bokeh), apply layer-based filters, or simulate refocusing after a photo is taken. This brings professional-grade photographic effects to consumer devices.

4

3D Content Creation and Reconstruction

Digital artists and game developers use ZoeDepth to quickly generate 3D proxies or rough geometry from reference images or concept art. The depth map can be converted into a point cloud or mesh, serving as a foundational scaffold for detailed 3D modeling, speeding up the asset creation pipeline for games, films, and VR experiences.

5

Autonomous Driving Perception

While primary systems rely on LiDAR and radar, ZoeDepth can serve as a complementary, cost-effective visual perception module. It helps in estimating the distance to vehicles, pedestrians, and curbs from monocular dashcam footage, providing valuable redundancy and context for tasks like free-space detection and object tracking, especially in resource-constrained scenarios.

How to Use

  1. Step 1: Set up your Python environment (Python 3.8+ recommended) and install the required dependencies, primarily PyTorch and the `zoedepth` package via pip (`pip install zoedepth`).
  2. Step 2: Clone the official GitHub repository (`git clone https://github.com/isl-org/ZoeDepth`) to access demo scripts, utilities, and the latest codebase.
  3. Step 3: Choose and load a pre-trained ZoeDepth model variant (e.g., `ZoeD_N` for NYU Depth V2, `ZoeD_K` for KITTI, or `ZoeD_NK` for a combined model) using the provided Python API.
  4. Step 4: Prepare your input image as a PIL Image or NumPy array, ensuring it is in RGB format and optionally pre-processed (e.g., resized) as required by the specific model variant.
  5. Step 5: Pass the image through the model's `infer` method to generate a depth map. The output is a depth array where each pixel value represents the estimated distance from the camera.
  6. Step 6: Visualize or post-process the raw depth output. The repository includes utilities for creating color-mapped depth images for interpretation or saving the depth data as a file (e.g., .npy or .png).
  7. Step 7: Integrate the depth estimation pipeline into your application. This could involve processing video frames, combining depth with other CV tasks, or using the depth data for 3D scene understanding.
  8. Step 8: For advanced use, explore fine-tuning the model on a custom dataset using the training scripts provided in the repository, adjusting hyperparameters for your specific domain.

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