Embodiments of the disclosure provide systems and methods for determining depth information in a two-dimensional (2D) image. An exemplary system may include a processor and a non-transitory memory storing instructions that, when executed by the processor, cause the system to perform the various operations. The operations may include receiving a first feature map based on the 2D image and applying an extraction network having a convolution operation and a pooling operation to the first feature map to obtain a second feature map. The operations may also include applying a reconstruction network having a deconvolution operation to the second feature map to obtain a depth map.