Depth Estimation on nuScenes (val)
4.88RMSERCDPT
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| RCDPTSupervision=true, Radar=JBF2026.01 | 4.88 | 0.09 | — | — | |
| RCDPTSupervision=true, Radar=InstaRadar2026.01 | 5.09 | 0.09 | — | — | |
| RCDPTSupervision=true, Radar=MER2026.01 | 5.16 | 0.1 | — | — | |
| DORN_radarSupervision=true, Radar=Height-extended2026.01 | 5.26 | 0.11 | — | — | |
| S2DSupervision=true, Radar=Raw2026.01 | 5.63 | 0.12 | — | — | |
| BEVDepth (default)Supervision=true, Radar=Raw2026.01 | 5.78 | 0.23 | — | — | |
| DINOv2 + Collaborative Distillation (CD)Arch.=ViT-G/14, Evaluation Protocol=Linear probing2026.02 | 6.63 | — | — | — | |
| SelfOcc*variant=asterisk denoted2026.03 | 6.706 | 0.215 | 2.743 | 0.316 | |
| DINOv2 + Collaborative Distillation (CD)Arch.=ViT-B/14, Evaluation Protocol=Linear probing2026.02 | 7.23 | — | — | — | |
| DINOv2 + FiT3D†Arch.=ViT-B/14, Evaluation Protocol=Linear probing2026.02 | 7.6 | — | — | — | |
| DINOv2Arch.=ViT-G/14, Evaluation Protocol=Linear probing2026.02 | 7.66 | — | — | — | |
| DINOv2 + CondenseArch.=ViT-G/14, Evaluation Protocol=Linear probing2026.02 | 7.66 | — | — | — | |
| NeRP3D2026.03 | 7.884 | 0.183 | 2.274 | 0.353 | |
| UniPAD2026.03 | 7.937 | 0.218 | 2.512 | 0.356 | |
| DINOv2Arch.=ViT-B/14, Evaluation Protocol=Linear probing2026.02 | 8.01 | — | — | — | |
| DINOv2 + FiT3DArch.=ViT-B/14, Evaluation Protocol=Linear probing2026.02 | 8.12 | — | — | — | |
| SelfOcc2026.03 | 8.503 | 0.311 | 3.808 | 0.391 | |
| BEVDepth (default)Supervision=false, Radar=Raw2026.01 | 19.45 | 3.03 | — | — |