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The monocular depth estimation (MDE) is the task of estimating depth from a single frame. This information is an essential knowledge in many computer vision tasks such as scene understanding and visual odometry, which are key components in autonomous and robotic systems. Approaches based on the state of the art vision transformer architectures are extremely deep and complex not suitable for real-time inference operations on edge and autonomous systems equipped with low resources (i.e. robotdoi:10.1109/access.2022.3170425 fatcat:23vapuasjjabdit5wgwx2mhn4u