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ResearchFormerly WizWand

Affine-invariant Depth Estimation on ETH3D (AbsRel, delta1)

3.8AbsRelFE2E
3.048.1713.318.43Mar 22, 2024Aug 7, 2024Dec 23, 2024May 10, 2025Sep 25, 2025Feb 10, 2026Jun 29, 2026
Updated 4mo ago

Evaluation results

MethodLinks
FE2Emode=zero-shot2025.093.898.7
FE2ETraining Data=71K, Pre-trained Stable Diffusion=false2025.093.898.7
FE2EGenerative Model=✓, MTL=✓, Inference Steps=12026.063.898.7
Ours CSTM_label (ViT-Large)Backbone=ViT-Large, #Params=306M, Pretrain=142M, #Data Train=16M, Zero-shot transfer=true2024.034.298.7
Ours CSTM_label (ViT-giant)Backbone=ViT-giant, #Params=1011M, Pretrain=142M, #Data Train=16M, Zero-shot transfer=true2024.034.298.3
Metric3Dv2Generative Model=×, MTL=✓, Inference Steps=12026.064.298.3
Lotus-2Generative Model=×, MTL=×, Inference Steps=12026.064.697.6
DiceptionGenerative Model=✓, MTL=✓, Inference Steps=12026.065.396.7
DINOv3mode=zero-shot2025.095.497.5
IrisTraining Data=59K + 100K, Zero-shot=true2026.035.597.6
Iris (ours)*Training Data=59K + 100K, diffusion-based=true2026.035.597.6
Lotus-G*Training Data=59K, Zero-shot=true2026.035.997
Lotus-G*Training Data=59K, diffusion-based=true2026.035.997
Lotus-GTraining Data=59K, Pre-trained Stable Diffusion=true2025.095.997
MUSE-dGenerative Model=×, MTL=✓, Inference Steps=12026.065.997.1
Lotus-D*Training Data=59K, Zero-shot=true2026.036.197
Lotus-D*Training Data=59K, diffusion-based=true2026.036.197
Lotus-DTraining Data=59K, Pre-trained Stable Diffusion=true2025.096.197
Ours CSTM_label (ViT-Small)Backbone=ViT-Small, #Params=22M, Pretrain=142M, #Data Train=16M, Zero-shot transfer=true2024.036.295.5
Lotus-gGenerative Model=✓, MTL=×, Inference Steps=12026.066.296.1
Ours CSTM_image (ConvNeXt-Large)Backbone=ConvNeXt-Large, #Params=198M, Pretrain=14.2M, #Data Train=8M, Zero-shot transfer=true2024.036.496.5
Diffusion-E2E-FT*Training Data=74K, Zero-shot=true2026.036.495.9
Diffusion-E2E-FT*Training Data=74K, diffusion-based=true2026.036.495.9
Diffusion-E2E-FTTraining Data=74K, Pre-trained Stable Diffusion=true2025.096.495.9
GeoWizardGenerative Model=✓, MTL=✓, Inference Steps=12026.066.496.1
MarigoldBackbone=Latent diffusion V2, #Params=899M, Pretrain=5B, #Data Train=74K, Zero-shot transfer=true2024.036.596
Marigold*Training Data=74K, Zero-shot=true2026.036.595.9
Marigold*Training Data=74K, diffusion-based=true2026.036.595.9
MarigoldTraining Data=74K, Pre-trained Stable Diffusion=true2025.096.595.9
Ours CSTM_label (ConvNeXt-Large)Backbone=ConvNeXt-Large, #Params=198M, Pretrain=14.2M, #Data Train=8M, Zero-shot transfer=true2024.036.696.4
GeoWizard*Training Data=280K, Zero-shot=true2026.036.695.8
GeoWizard*Training Data=280K, diffusion-based=true2026.036.695.8
Qwen-Imagemode=zero-shot2025.096.696.2
GeoWizardTraining Data=280K, Pre-trained Stable Diffusion=false2025.096.695.8
Marigold(LCM)*Training Data=74K, Zero-shot=true2026.036.895.6
Marigold(LCM)*Training Data=74K, diffusion-based=true2026.036.895.6
Lotus-dGenerative Model=×, MTL=×, Inference Steps=12026.066.895.3
GenPerceptTraining Data=74K, Pre-trained Stable Diffusion=false2025.09795.6
Marigold v1.1Training Data=74K, Pre-trained Stable Diffusion=true2025.09795.5
Marigoldv1.1Generative Model=✓, MTL=×, Inference Steps=12026.06795.5
MarigoldGenerative Model=✓, MTL=×, Inference Steps=12026.067.195.1
OrchidGenerative Model=✓, MTL=✓, Inference Steps=12026.067.396.9
DPT-largeBackbone=ViT-Large, Pretrain=1.3M, #Data Train=188K, Zero-shot transfer=true2024.037.894.6
DPTTraining Data=1.4M, Zero-shot=true2026.037.894.6
DPTTraining Data=1.4M2026.037.894.6
MUSE-gGenerative Model=✓, MTL=✓, Inference Steps=12026.068.896.2
GenPercept*Training Data=90K, Zero-shot=true2026.039.496.1
GenPercept*Training Data=90K, diffusion-based=true2026.039.496.1
HDNBackbone=ViT-Large, #Params=306M, Pretrain=1.3M, #Data Train=300K, Zero-shot transfer=true2024.0310.883.3
HDNTraining Data=300K, Zero-shot=true2026.0312.183.3
HDNTraining Data=300K2026.0312.183.3
DepthAnythingBackbone=ViT-Large, #Params=142M, Pretrain=142M, #Data Train=63.5M, Zero-shot transfer=true2024.0312.788.2
DepthAnythingTraining Data=62.6M, Zero-shot=true2026.0312.788.2
DepthAnythingTraining Data=62.6M2026.0312.788.2
DepthAnythingTraining Data=62.6M, Pre-trained Stable Diffusion=false2025.0912.788.2
DepthAnything V2Training Data=62.6M, Zero-shot=true2026.0313.186.5
DepthAnything V2Training Data=62.6M2026.0313.186.5
DepthAnything V2Training Data=62.6M, Pre-trained Stable Diffusion=false2025.0913.186.5
OmnidataBackbone=ViT-Base, Pretrain=1.3M, #Data Train=12.2M, Zero-shot transfer=true2024.0316.677.8
OmnidataTraining Data=12.2M, Zero-shot=true2026.0316.677.8
OmnidataTraining Data=12.2M2026.0316.677.8
LeresBackbone=ResNeXt101, Pretrain=1.3M, #Data Train=354K, Zero-shot transfer=true2024.0317.177.7
LeResTraining Data=354K, Zero-shot=true2026.0317.177.7
LeResTraining Data=354K2026.0317.177.7
MiDaSBackbone=ResNeXt101, #Params=88M, Pretrain=1.3M, #Data Train=2M, Zero-shot transfer=true2024.0318.475.2
MiDaSTraining Data=2M, Zero-shot=true2026.0318.475.2
MiDaSTraining Data=2M2026.0318.475.2
MiDaSTraining Data=2M, Pre-trained Stable Diffusion=false2025.0918.475.2
DiverseDepthBackbone=ResNeXt50, #Params=25M, Pretrain=1.3M, #Data Train=320K, Zero-shot transfer=true2024.0322.869.4
DiverseDepthTraining Data=320K, Zero-shot=true2026.0322.869.4
DiverseDepthTraining Data=320K2026.0322.869.4