Abstract: A device may receive base video data and shifted video data, and may select a base video frame from the base video data and a shifted video frame from the shifted video data. The device may estimate a base homography for the base video frame and a shifted homography for the shifted video frame. The device may process the base/shifted video frames, with an object detection model, to detect objects and to generate bounding boxes for the objects, and may utilize the base homography, the shifted homography, and the bounding boxes to calculate ground truth distances to the objects. The device may utilize a depth estimation model to calculate estimated distances to the objects, and may calculate differences between the ground truth and estimated distances. The device may determine, based on the differences, that the depth estimation model needs to be trained and may generate a trained depth estimation model.