Affine-invariant Depth Estimation on KITTI Outdoor
6.6AbsRelFE2E
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| FE2Emode=zero-shot2025.09 | 6.6 | 96 | |
| FE2ETraining Data=71K, Pre-trained Stable Diffusion=false2025.09 | 6.6 | 96 | |
| IrisTraining Data=59K + 100K, Zero-shot=true2026.03 | 7.2 | 94.5 | |
| Iris (ours)*Training Data=59K + 100K, diffusion-based=true2026.03 | 7.2 | 94.5 | |
| DINOv3mode=zero-shot2025.09 | 7.3 | 96.7 | |
| DepthAnything V2Training Data=62.6M, Zero-shot=true2026.03 | 7.4 | 94.6 | |
| DepthAnything V2Training Data=62.6M2026.03 | 7.4 | 94.6 | |
| DepthAnything V2Training Data=62.6M, Pre-trained Stable Diffusion=false2025.09 | 7.4 | 94.6 | |
| DepthAnythingTraining Data=62.6M, Zero-shot=true2026.03 | 7.6 | 94.7 | |
| DepthAnythingTraining Data=62.6M2026.03 | 7.6 | 94.7 | |
| DepthAnythingTraining Data=62.6M, Pre-trained Stable Diffusion=false2025.09 | 7.6 | 94.7 | |
| GenPercept*Training Data=90K, Zero-shot=true2026.03 | 7.8 | 93.5 | |
| GenPercept*Training Data=90K, diffusion-based=true2026.03 | 7.8 | 93.5 | |
| Qwen-Imagemode=zero-shot2025.09 | 7.8 | 95.1 | |
| Lotus-D*Training Data=59K, Zero-shot=true2026.03 | 8.1 | 93.1 | |
| Lotus-D*Training Data=59K, diffusion-based=true2026.03 | 8.1 | 93.1 | |
| Lotus-DTraining Data=59K, Pre-trained Stable Diffusion=true2025.09 | 8.1 | 93.1 | |
| Lotus-G*Training Data=59K, Zero-shot=true2026.03 | 8.5 | 92.2 | |
| Lotus-G*Training Data=59K, diffusion-based=true2026.03 | 8.5 | 92.2 | |
| Lotus-GTraining Data=59K, Pre-trained Stable Diffusion=true2025.09 | 8.5 | 92.2 | |
| Diffusion-E2E-FT*Training Data=74K, Zero-shot=true2026.03 | 9.6 | 92.1 | |
| Diffusion-E2E-FT*Training Data=74K, diffusion-based=true2026.03 | 9.6 | 92.1 | |
| Diffusion-E2E-FTTraining Data=74K, Pre-trained Stable Diffusion=true2025.09 | 9.6 | 92.1 | |
| Marigold(LCM)*Training Data=74K, Zero-shot=true2026.03 | 9.8 | 91.8 | |
| Marigold(LCM)*Training Data=74K, diffusion-based=true2026.03 | 9.8 | 91.8 | |
| Marigold*Training Data=74K, Zero-shot=true2026.03 | 9.9 | 91.6 | |
| Marigold*Training Data=74K, diffusion-based=true2026.03 | 9.9 | 91.6 | |
| MarigoldTraining Data=74K, Pre-trained Stable Diffusion=true2025.09 | 9.9 | 91.6 | |
| DPTTraining Data=1.4M, Zero-shot=true2026.03 | 10 | 90.1 | |
| DPTTraining Data=1.4M2026.03 | 10 | 90.1 | |
| Marigold v1.1Training Data=74K, Pre-trained Stable Diffusion=true2025.09 | 11 | 88.8 | |
| HDNTraining Data=300K, Zero-shot=true2026.03 | 11.5 | 86.7 | |
| HDNTraining Data=300K2026.03 | 11.5 | 86.7 | |
| GenPerceptTraining Data=74K, Pre-trained Stable Diffusion=false2025.09 | 13 | 84.2 | |
| GeoWizard*Training Data=280K, Zero-shot=true2026.03 | 14.4 | 82 | |
| GeoWizard*Training Data=280K, diffusion-based=true2026.03 | 14.4 | 82 | |
| GeoWizardTraining Data=280K, Pre-trained Stable Diffusion=false2025.09 | 14.4 | 82 | |
| LeResTraining Data=354K, Zero-shot=true2026.03 | 14.9 | 78.4 | |
| OmnidataTraining Data=12.2M, Zero-shot=true2026.03 | 14.9 | 83.5 | |
| LeResTraining Data=354K2026.03 | 14.9 | 78.4 | |
| OmnidataTraining Data=12.2M2026.03 | 14.9 | 83.5 | |
| DiverseDepthTraining Data=320K, Zero-shot=true2026.03 | 19 | 70.4 | |
| DiverseDepthTraining Data=320K2026.03 | 19 | 70.4 | |
| MiDaSTraining Data=2M, Zero-shot=true2026.03 | 23.6 | 63 | |
| MiDaSTraining Data=2M2026.03 | 23.6 | 63 | |
| MiDaSTraining Data=2M, Pre-trained Stable Diffusion=false2025.09 | 23.6 | 63 |