Acquiring underwater depth maps is essential as they provide indispensable three-dimensional spatial information for visualizing the underwater environment. These depth maps serve various purposes, including underwater navigation, environmental monitoring, and resource exploration. While most of the current depth estimation methods can work well in ideal underwater environments with homogeneous illumination, few consider the risk caused by irregular illumination, which is common in practical underwater environments. On the one hand, underwater environments with low-light conditions can reduce image contrast. The reduction brings challenges to depth estimation models in accurately differentiating among objects. On the other hand, overexposure caused by reflection or artificial illumination can degrade the textures of underwater objects, which is crucial to geometric constraints between frames. To address the above issues, we propose an underwater self-supervised monocular depth estimation network integrating image enhancement and auxiliary depth information. We use the Monte Carlo image enhancement module (MC-IEM) to tackle the inherent uncertainty in low-light underwater images through probabilistic estimation. When pixel values are enhanced, object recognition becomes more accessible, allowing for a more precise acquisition of distance information and thus resulting in more accurate depth estimation. Next, we extract additional geometric features through transfer learning, infusing prior knowledge from a supervised large-scale model into a self-supervised depth estimation network to refine loss functions and a depth network to address the overexposure issue. We conduct experiments with two public datasets, which exhibited superior performance compared to existing approaches in underwater depth estimation.
