Systems and methods for depth estimation of images from a mono-camera by use of radar data by: receiving, a plurality of input 2-D images from the mono-camera; generating, by the processing unit, an estimated depth image by supervised training of an image estimation model; generating, by the processing unit, a synthetic image from a first input image and a second input image from the mono-camera by applying an estimated transform pose; comparing, by the processing unit, an estimated three-dimensional (3-D) point cloud to radar data by applying another estimated transform pose to a 3-D point cloud wherein the 3-D point cloud is estimated from a depth image by supervised training of the image estimation model to radar distance and radar doppler measurement; correcting a depth estimation of the estimated depth image by losses derived from differences: of the synthetic image and original images; of an estimated depth image and a measured radar distance; and of an estimated doppler information and measured radar doppler information.