Abstract: Aiming at the weak generalization of single-frame image depth estimation, a depth estimation technique based on deep learning was proposed, which used deep convolutional neural network as the basic framework and combined the epipolar geometry constraints to construct the end-to-end mapping from sequence images to the depth information, enabling unsupervised depth estimation that only relied on sequence image information. At the same time, a kind of loss function based on three-dimensional geometric information of the scene was constructed, and the original loss function based on the re-projection error between images was discarded to improve the robustness of the algorithm. Finally, the accuracy and precision of the algorithm were verified by the open source database. At the same time, the generalization of the algorithm was verified by the infrared image dataset, which laid a foundation for the military application.