Depth Inference

This page summarizes the depth inference module used by SLAM-MER.

Repository location

  • thirdparty/depth_inference

Description

The depth inference repository provides a standalone C++ library for monocular depth estimation using ONNX Runtime. The active backend in the current module is MAST3R; other model names exist in shared configuration enums but are not active integration paths in the module.

Main outputs include:

  • Point maps

  • Point-map confidence maps

Usage in the framework

In SLAM-MER, this module is used as an optional source of keyframe-local depth priors. For monocular input, the current SLAM-MER integration creates a MAST3R depth estimator and stores point-map and confidence-map outputs used during keyframe creation.

Build and integration

To build it as part of the SLAM-MER workflow:

mise run configure_modules
mise run build_modules

This configures and builds thirdparty/depth_inference together with the other optional modules.

For standalone installation and module-specific options, see the repository README in thirdparty/depth_inference.