Abstract: Methods, systems, apparatus, and articles of manufacture for monocular depth estimation are disclosed. An example apparatus disclosed herein is to determine bin center positions for a pixel of an image based on first features obtained at a first decoder layer of an encoder-decoder architecture, the image representative of a three-dimensional (3D) scene, the bin center positions corresponding to respective different metric depth values. The example apparatus is also to adjust the bin center positions at a second decoder layer of the encoder-decoder architecture based on an attractor point, the attractor point based on the first features and second features obtained at the second decoder layer. The example apparatus is further to output a metric depth map corresponding to the image, the metric depth map including a metric depth value corresponding to the pixel, the metric depth value based on the adjusted bin center positions.