Depth Completion on KITTI
1.465RMSEMarigold-DC ensemble
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| Marigold-DC ensembleType=DIFFUSION, Ensembling=true2026.03 | 1.465 | — | — | 0.434 | — | — | — | |
| Marigold-SSDType=DIFFUSION2026.03 | 1.496 | — | — | 0.454 | — | — | — | |
| VPP4DCType=DISCRIMINATIVE2026.03 | 1.609 | — | — | 0.413 | — | — | — | |
| Marigold-DCType=DIFFUSION2026.03 | 1.676 | — | — | 0.558 | — | — | — | |
| SpAgNetType=DISCRIMINATIVE2026.03 | 1.788 | — | — | 0.518 | — | — | — | |
| LDCMzero-shot=true, depth_type=metric2026.05 | 1.911 | — | — | 0.537 | 2.6 | 98.3 | 1.068 | |
| CFormerType=DISCRIMINATIVE2026.03 | 1.935 | — | — | 0.952 | — | — | — | |
| NLSPNType=DISCRIMINATIVE2026.03 | 2.076 | — | — | 1.335 | — | — | — | |
| DepthLabType=DISCRIMINATIVE2026.03 | 2.171 | — | — | 0.921 | — | — | — | |
| OMNI-DCzero-shot=true, depth_type=metric2026.05 | 2.302 | — | — | 0.76 | 4.2 | 96.3 | 3.045 | |
| PriorDAzero-shot=true, depth_type=metric2026.05 | 2.364 | — | — | 0.861 | 4.4 | 97.1 | 4.159 | |
| SPNetzero-shot=true, dataset-specific configs=true2026.05 | 2.365 | — | — | 0.757 | 4.1 | 96.6 | 3 | |
| G2-MonoDepthzero-shot=true, dataset-specific configs=true2026.05 | 2.638 | — | — | 0.964 | 5.4 | 94.9 | 5.295 | |
| Prompt Depth AnythingType=DISCRIMINATIVE2026.03 | 2.803 | — | — | 0.934 | — | — | — | |
| PromptDAzero-shot=true, depth_type=metric2026.05 | 3.04 | — | — | 1.261 | 6.7 | 94.6 | 6.545 | |
| MoGe V1zero-shot=true, depth_type=relative2026.05 | 3.05 | — | — | 1.821 | 12.5 | 88.7 | 8.568 | |
| UniDepth V2zero-shot=true, depth_type=metric2026.05 | 3.15 | — | — | 1.598 | 9 | 96 | 6.5 | |
| Marigold-E2E + LSType=DIFFUSION, Alignment=LS2026.03 | 3.214 | — | — | 1.591 | — | — | — | |
| Marigold + LSType=DIFFUSION, Alignment=LS2026.03 | 3.305 | — | — | 1.709 | — | — | — | |
| UniDepth V1zero-shot=true, depth_type=metric2026.05 | 3.335 | — | — | 2.01 | 11.8 | 93.8 | 8.636 | |
| Marigold + optimType=DIFFUSION, Alignment=optim2026.03 | 3.361 | — | — | 1.765 | — | — | — | |
| Pow3Rzero-shot=true, depth_type=relative2026.05 | 3.515 | — | — | 2.096 | 14.1 | 83.2 | 10.75 | |
| DepthAnythingV2zero-shot=true, depth_type=relative2026.05 | 4.007 | — | — | 1.89 | 9.2 | 91.6 | 9.091 | |
| Marigold-SSDType=DIFFUSION, Training=lower density-levels (*)2026.03 | 4.07 | — | — | 2.443 | — | — | — | |
| DepthProzero-shot=true, depth_type=metric2026.05 | 4.149 | — | — | 2.763 | 17.8 | 73.1 | 13.432 | |
| VGGTzero-shot=true, depth_type=relative2026.05 | 4.219 | — | — | 2.518 | 15.8 | 78.3 | 12.909 | |
| WorldMirrorzero-shot=true, depth_type=relative2026.05 | 4.439 | — | — | 2.432 | 14.2 | 82.4 | 11.818 | |
| MoGe V2zero-shot=true, depth_type=metric2026.05 | 4.617 | — | — | 3.366 | 21.3 | 45.8 | 15.182 | |
| MapAnythingzero-shot=true, depth_type=metric2026.05 | 12.974 | — | — | 6.784 | 35 | 58.8 | 15.75 | |
| PENetRGB-Input=true, Encoder-Decoder=true, Binary Mask=false, Confidence=true, Refinement=true, Surface Normals=false, Additional Dataset=false2021.07 | 730.08 | 2.17 | 0.94 | 210.55 | — | — | — | |
| FCFR-NetRGB-Input=true, Encoder-Decoder=true, Binary Mask=false, Confidence=false, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 735.81 | 2.2 | 0.98 | 217.15 | — | — | — | |
| GuideNetRGB-Input=true, Encoder-Decoder=true, Binary Mask=false, Confidence=false, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 736.24 | 2.25 | 0.99 | 218.83 | — | — | — | |
| NLSPNRGB-Input=true, Encoder-Decoder=true, Binary Mask=false, Confidence=true, Refinement=true, Surface Normals=false, Additional Dataset=false2021.07 | 741.68 | 1.99 | 0.84 | 199.59 | — | — | — | |
| CSPN++RGB-Input=true, Encoder-Decoder=true, Binary Mask=false, Confidence=true, Refinement=true, Surface Normals=false, Additional Dataset=false2021.07 | 743.69 | 2.07 | 0.9 | 209.28 | — | — | — | |
| ACMNetRGB-Input=true, Encoder-Decoder=true, Binary Mask=false, Confidence=true, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 744.91 | 2.08 | 0.9 | 206.09 | — | — | — | |
| DeepLidarRGB-Input=true, Encoder-Decoder=true, Binary Mask=false, Confidence=true, Refinement=false, Surface Normals=true, Additional Dataset=true2021.07 | 758.38 | 2.56 | 1.15 | 226.5 | — | — | — | |
| MSG-CHNRGB-Input=true, Encoder-Decoder=true, Binary Mask=false, Confidence=true, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 762.19 | 2.3 | 0.98 | 220.41 | — | — | — | |
| DSPNRGB-Input=true, Encoder-Decoder=true, Binary Mask=false, Confidence=true, Refinement=true, Surface Normals=false, Additional Dataset=false2021.07 | 766.74 | 2.47 | 1.03 | 220.36 | — | — | — | |
| RGB&UncertaintyRGB-Input=true, Encoder-Decoder=true, Binary Mask=false, Confidence=true, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 772.87 | 2.19 | 0.93 | 215.02 | — | — | — | |
| DVMNRGB-Input=true, Encoder-Decoder=true, Binary Mask=true, Confidence=false, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 776.31 | 2.21 | 0.94 | 220.37 | — | — | — | |
| PwPRGB-Input=true, Encoder-Decoder=true, Binary Mask=true, Confidence=true, Refinement=true, Surface Normals=false, Additional Dataset=false2021.07 | 777.05 | 2.42 | 1.13 | 235.17 | — | — | — | |
| RevisitingRGB-Input=false, Encoder-Decoder=true, Binary Mask=true, Confidence=false, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 792.8 | 2.42 | 0.99 | 225.81 | — | — | — | |
| CrossGuidanceRGB-Input=true, Encoder-Decoder=true, Binary Mask=false, Confidence=true, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 807.42 | 2.73 | 1.33 | 253.98 | — | — | — | |
| NConv-CNN-L2RGB-Input=false, Encoder-Decoder=true, Binary Mask=true, Confidence=true, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 829.98 | 2.6 | 1.03 | 233.26 | — | — | — | |
| SSGPRGB-Input=true, Encoder-Decoder=true, Binary Mask=true, Confidence=false, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 838.22 | 2.51 | 1.09 | 244.7 | — | — | — | |
| NConv-CNN-L1RGB-Input=false, Encoder-Decoder=true, Binary Mask=true, Confidence=true, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 859.22 | 2.52 | 0.92 | 207.77 | — | — | — | |
| Spade-RGBsDRGB-Input=true, Encoder-Decoder=true, Binary Mask=false, Confidence=false, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 917.61 | 2.17 | 0.95 | 234.81 | — | — | — | |
| CSPNRGB-Input=true, Encoder-Decoder=true, Binary Mask=false, Confidence=false, Refinement=true, Surface Normals=false, Additional Dataset=false2021.07 | 1,019.64 | 2.93 | 1.15 | 279.46 | — | — | — | |
| Spade-sDRGB-Input=false, Encoder-Decoder=true, Binary Mask=false, Confidence=false, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 1,035.29 | 2.6 | 0.98 | 248.32 | — | — | — | |
| DFuseNetRGB-Input=true, Encoder-Decoder=true, Binary Mask=false, Confidence=false, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 1,206.66 | 3.62 | 1.79 | 429.93 | — | — | — | |
| NConvRGB-Input=false, Encoder-Decoder=false, Binary Mask=true, Confidence=false, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 1,268.22 | 4.67 | 1.52 | 360.28 | — | — | — | |
| ADNNRGB-Input=false, Encoder-Decoder=false, Binary Mask=true, Confidence=false, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 1,325.37 | 59.39 | 3.19 | 439.48 | — | — | — | |
| SI-CNNRGB-Input=false, Encoder-Decoder=false, Binary Mask=true, Confidence=false, Refinement=false, Surface Normals=false, Additional Dataset=false2021.07 | 1,601.33 | 4.94 | 1.84 | 481.27 | — | — | — |