  Monocular depth estimation is an especially important task in robotics and
autonomous driving, where 3D structural information is essential. However,
extreme lighting conditions and complex surface objects make it difficult to
predict depth in a single image. Therefore, to generate accurate depth maps, it
is important for the model to learn structural information about the scene. We
propose a novel Patch-Wise EdgeConv Module (PEM) and EdgeConv Attention Module
(EAM) to solve the difficulty of monocular depth estimation. The proposed
modules extract structural information by learning the relationship between
image patches close to each other in space using edge convolution. Our method
is evaluated on two popular datasets, the NYU Depth V2 and the KITTI Eigen
split, achieving state-of-the-art performance. We prove that the proposed model
predicts depth robustly in challenging scenes through various comparative
experiments.
