ARDepth: Auto-regressive Monocular Depth Estimation with Progressive Visual Conditioning

Abstract

Diffusion models have recently become the dominant paradigm for monocular depth estimation (MDE). However, they implicitly assume that depth can be recovered as a globally smooth field through iterative denoising, which does not explicitly reflect the piecewise and scale-dependent organization of scene geometry. In practice, geometric structure emerges progressively across spatial scales, where coarse layout, surfaces, and boundaries are constructed in a hierarchical manner. Motivated by this observation, we introduce ARDepth, which formulates depth estimation as structured auto-regressive generation. Instead of recovering depth through global refinement, ARDepth progressively constructs depth representations as spatial resolution increases. To support this generative process, we introduce Scale-Progressive Conditioning (SPC) to inject multi-scale visual features at each generation stage, and Semantic-Aware Guidance (SAG) to provide scene-level semantic priors that enhance global structural consistency. Together, these designs enable the model to capture fine-grained local details while maintaining coherent global geometry. Empirical results demonstrate that our approach achieves strong performance and produces structurally consistent depth predictions across scales, validating auto-regressive generation as a promising alternative paradigm for geometric modeling.