The present application provides a model training method and apparatus, and a prediction method and apparatus, and it relates to fields of artificial intelligence, deep learning, image processing, and autonomous driving. The model training method includes: inputting a first sample image of sample images into a depth information prediction model, and acquiring depth information of the first sample image; acquiring inter-image posture information based on a second sample image of the sample images and the first sample image; acquiring a projection image corresponding to the first sample image, at least according to the inter-image posture information and the depth information; and acquiring a loss function by determining a function for calculating a similarity between the second sample image and the projection image, and training the depth information prediction model using the loss function.