  Monocular depth estimation (MDE) in the self-supervised scenario has emerged
as a promising method as it refrains from the requirement of ground truth
depth. Despite continuous efforts, MDE is still sensitive to scale changes
especially when all the training samples are from one single camera. Meanwhile,
it deteriorates further since camera movement results in heavy coupling between
the predicted depth and the scale change. In this paper, we present a
scale-invariant approach for self-supervised MDE, in which scale-sensitive
features (SSFs) are detached away while scale-invariant features (SIFs) are
boosted further. To be specific, a simple but effective data augmentation by
imitating the camera zooming process is proposed to detach SSFs, making the
model robust to scale changes. Besides, a dynamic cross-attention module is
designed to boost SIFs by fusing multi-scale cross-attention features
adaptively. Extensive experiments on the KITTI dataset demonstrate that the
detaching and boosting strategies are mutually complementary in MDE and our
approach achieves new State-of-The-Art performance against existing works from
0.097 to 0.090 w.r.t absolute relative error. The code will be made public
soon.
