SYSTEMS AND METHODS FOR SEMI-SUPERVISED TRAINING USING REPROJECTED DISTANCE LOSS

System, methods, and other embodiments described herein relate to training a depth model for monocular depth estimation. In one embodiment, a method includes generating, as part of training the depth model according to a supervised training stage, a depth map from a first image of a pair of training images using the depth model. The pair of training images are separate frames depicting a scene from a monocular video. The method includes generating a transformation from the first image and a second image of the pair using a pose model. The method includes computing a supervised loss based, at least in part, on reprojecting the depth map and training depth data onto an image space of the second image according to at least the transformation. The method includes updating the depth model and the pose model according to at least the supervised loss.