让单目深度模型在雨雪雾夜中依然准确,靠的是分离天气风格与内容。
Weather-Conditioned Depth Anything

- 用风格过滤器提取天气特征,注入模型轻量调制。
- 在多种恶劣天气下平均绝对相对误差降低3.7%。
- 适合需要跨天气鲁棒性的自动驾驶与机器人应用。
单目深度估计基础模型(如Depth Anything系列)在多个领域表现优异,但在雾、雨、雪或夜间等恶劣天气下仍存在严重失效问题。为此,我们提出天气条件化深度估计框架DA-W,通过显式分离风格与内容,实现对天气的鲁棒性。具体而言,我们基于真实与合成退化数据集构建的混合数据集训练一个风格过滤器,以提取与内容无关但具备退化感知能力的天气嵌入。该风格嵌入通过参数高效、零初始化的适配器注入Depth Anything主干网络。这种轻量级调制使单一统一模型能稳健适应雾、雨、雪和低光等多种场景,同时避免在正常条件下灾难性遗忘其核心泛化能力。我们采用伪标签蒸馏与对齐策略训练适配器。大量实验表明,所提方法在自建天气基准上平均绝对相对误差(AbsRel)提升3.7%,达到当前最优性能,同时在标准清洁基准上保持相当或略优的表现。
原文摘要 · Abstract (English)
Monocular depth estimation foundation models, such as the Depth Anything series, have achieved remarkable performance across diverse domains. However, they still suffer from critical failures under adverse weather conditions, such as fog, rain, snow, or at night. To address this, we present Weather-Conditioned Depth Anything (DA-W), a framework that explicitly disentangles style from content for weather-robust depth estimation. Specifically, we introduce a Style Filter trained on a curated mix of real and synthetic degradation datasets to extract content-independent, degradation-aware weather embeddings. This style embedding is then injected into the Depth Anything backbone using a parameter-efficient, zero-initialized adapter. Such a lightweight modulation allows a single unified model to robustly adapt to diverse conditions, including fog, rain, snow, and low-light, while avoiding catastrophic forgetting of its core generalization abilities in normal conditions. We train the adapter using a pseudo-label distillation and alignment strategy. Our comprehensive experiments demonstrate that our proposed DA-W achieves state-of-the-art robust depth estimation, improving AbsRel by an average of 3.7% on our curated weather benchmarks, while matching or slightly outperforming performance on standard clean benchmarks. Our project page is available at https://zhaoming-tamu.github.io/WCDA/.
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