# Depth Estimation on nuScenes v1.0 (train val)

Source: [Depth Estimation on nuScenes v1.0 (train val)](<https://www.sota2.com/research/sota/depth-estimation-on-nuscenes-v1-0-train-val>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-27T11:35:35.099Z

Evaluation of Depth Estimation performance on the training and validation splits of the nuScenes v1.0 dataset, reporting Abs Rel and delta \< 1.25 accuracy.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Depth Estimation |
| Dataset (including any stated split) | nuScenes v1.0 (train val) |
| Metric | Absolute Relative Error (Abs Rel) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 7 of 7 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Absolute Relative Error (Abs Rel)](<https://www.sota2.com/research/sota/depth-estimation-on-nuscenes-v1-0-train-val.md?metric=Absolute%20Relative%20Error%20(Abs%20Rel)>): Lower is better; unit: SCALAR.

- [Accuracy (δ \< 1.25)](<https://www.sota2.com/research/sota/depth-estimation-on-nuscenes-v1-0-train-val.md?metric=Accuracy%20(%CE%B4%20%3C%201.25)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Absolute Relative Error (Abs Rel) | Result date | Report paper |
| --- | --- | --- | --- |
| DVGT | 0.13 | Not recorded | 6944dc2b423ea42265729d1d |
| SelfOcc | 0.23 | Not recorded | 6944dc2b423ea42265729d1d |
| OmniNWM | 0.23 | Not recorded | 6944dc2b423ea42265729d1d |
| R3D3 | 0.25 | Not recorded | 6944dc2b423ea42265729d1d |
| SurroundDepth | 0.28 | Not recorded | 6944dc2b423ea42265729d1d |
| MonoDepth2 | 0.29 | Not recorded | 6944dc2b423ea42265729d1d |
| Dist4D | 0.39 | Not recorded | 6944dc2b423ea42265729d1d |

### DVGT

Absolute Relative Error (Abs Rel): 0.13. Result ID: 69a1817835dfcabb00e77f2e.

[Reporting paper](<https://www.sota2.com/research/paper/6944dc2b423ea42265729d1d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6944dc2b423ea42265729d1d.md>)

Recorded evaluation configuration: {"Scale Method":"None"}. This record does not assert independent reproduction.

### SelfOcc

Absolute Relative Error (Abs Rel): 0.23. Result ID: 69a1817835dfcabb00e77f2b.

[Reporting paper](<https://www.sota2.com/research/paper/6944dc2b423ea42265729d1d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa715d1e209131cea50e13.md>)

[Implementation](<https://github.com/huang-yh/SelfOcc>)

Recorded evaluation configuration: {"Scale Method":"Pose GT"}. This record does not assert independent reproduction.

### OmniNWM

Absolute Relative Error (Abs Rel): 0.23. Result ID: 69a1817835dfcabb00e77f2d.

[Reporting paper](<https://www.sota2.com/research/paper/6944dc2b423ea42265729d1d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7c721e209131cea8e1fe.md>)

Recorded evaluation configuration: {"Scale Method":"Pose GT"}. This record does not assert independent reproduction.

### R3D3

Absolute Relative Error (Abs Rel): 0.25. Result ID: 69a1817835dfcabb00e77f2a.

[Reporting paper](<https://www.sota2.com/research/paper/6944dc2b423ea42265729d1d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70771e209131cea4b42f.md>)

Recorded evaluation configuration: {"Scale Method":"Extrinsic"}. This record does not assert independent reproduction.

### SurroundDepth

Absolute Relative Error (Abs Rel): 0.28. Result ID: 69a1817835dfcabb00e77f29.

[Reporting paper](<https://www.sota2.com/research/paper/6944dc2b423ea42265729d1d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d751e209131cea3a0df.md>)

Recorded evaluation configuration: {"Scale Method":"SfM Pretrain"}. This record does not assert independent reproduction.

### MonoDepth2

Absolute Relative Error (Abs Rel): 0.29. Result ID: 69a1817835dfcabb00e77f28.

[Reporting paper](<https://www.sota2.com/research/paper/6944dc2b423ea42265729d1d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa66341e209131cea0ebb0.md>)

[Implementation](<https://www.github.com/nianticlabs/monodepth2>)

Recorded evaluation configuration: {"Scale Method":"Median Scaling"}. This record does not assert independent reproduction.

### Dist4D

Absolute Relative Error (Abs Rel): 0.39. Result ID: 69a1817835dfcabb00e77f2c.

[Reporting paper](<https://www.sota2.com/research/paper/6944dc2b423ea42265729d1d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77851e209131cea73ce6.md>)

Recorded evaluation configuration: {"Scale Method":"Pose GT"}. This record does not assert independent reproduction.

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