Depth Estimation on ScanNet++
0.0175AbsRelPrompt Depth Anything
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Prompt Depth AnythingZero-Shot=No, LiDAR Usage=Net., Fine-tuned=No2024.12 | 0.0175 | 0.025 | 0.0829 | 97.81 | — | — | |
| Prompt Depth Anything (syn)Zero-Shot=Yes, LiDAR Usage=Net., Fine-tuned=No2024.12 | 0.0224 | 0.0327 | 0.0966 | 97 | — | — | |
| MSPFZero-Shot=No, LiDAR Usage=Post., Fine-tuned=Yes2024.12 | 0.0226 | 0.0326 | 0.0975 | 96.74 | — | — | |
| ARKit DepthZero-Shot=Yes, LiDAR Usage=Post., Fine-tuned=No2024.12 | 0.0241 | 0.0351 | 0.0987 | 96.59 | — | — | |
| D.P.Zero-Shot=Yes, LiDAR Usage=Post., Fine-tuned=No2024.12 | 0.0242 | 0.0353 | 0.0983 | 96.57 | — | — | |
| π^3Zero-shot evaluation=true, Training with DL3DV-10K=No, MVG Annotations=w2026.04 | 0.027 | — | — | — | — | 97 | |
| Depth Anything v2Zero-Shot=No, LiDAR Usage=Post., Fine-tuned=Yes2024.12 | 0.0371 | 0.051 | 0.101 | 94.37 | — | — | |
| Depth Anything v2Zero-Shot=Yes, LiDAR Usage=Post., Fine-tuned=No2024.12 | 0.0402 | 0.0592 | 0.1145 | 94.04 | — | — | |
| ZoeDepthZero-Shot=No, LiDAR Usage=Post., Fine-tuned=Yes2024.12 | 0.0416 | 0.0582 | 0.1069 | 93.25 | — | — | |
| Metric3D v2Zero-Shot=Yes, LiDAR Usage=Post., Fine-tuned=No2024.12 | 0.0419 | 0.0585 | 0.3087 | 95.29 | — | — | |
| Depth ProZero-Shot=Yes, LiDAR Usage=Post., Fine-tuned=No2024.12 | 0.051 | 0.0638 | 0.1212 | 92.12 | — | — | |
| MarigoldZero-Shot=Yes, LiDAR Usage=Post., Fine-tuned=No2024.12 | 0.0603 | 0.0828 | 0.1412 | 87.18 | — | — | |
| Depth Anything v2Zero-Shot=No, LiDAR Usage=w/o LiDAR, Fine-tuned=Yes2024.12 | 0.0624 | 0.0903 | 0.1347 | 86.57 | — | — | |
| Metric3D v2Zero-Shot=Yes, LiDAR Usage=w/o LiDAR, Fine-tuned=No2024.12 | 0.0841 | 0.1226 | 0.3403 | 80.09 | — | — | |
| OursMDE Variant=MoGe-2, MDE delta_1=0.9812026.04 | 0.108 | — | — | — | 83.9 | — | |
| LsidMDE Variant=UniDepth V2, MDE delta_1=0.9772026.04 | 0.118 | — | — | — | 83.2 | — | |
| OursMDE Variant=UniDepth V2, MDE delta_1=0.9772026.04 | 0.118 | — | — | — | 82.1 | — | |
| LsidMDE Variant=MoGe-2, MDE delta_1=0.9812026.04 | 0.12 | — | — | — | 82.8 | — | |
| Reliev3RZero-shot evaluation=true, Training with DL3DV-10K=Alone, MVG Annotations=w/o2026.04 | 0.124 | — | — | — | — | 58.3 | |
| OursMDE Variant=DAV2, MDE delta_1=0.9552026.04 | 0.126 | — | — | — | 79.9 | — | |
| ZoeDepthZero-Shot=No, LiDAR Usage=w/o LiDAR, Fine-tuned=Yes2024.12 | 0.1278 | 0.1675 | 0.1984 | 58.07 | — | — | |
| LsidMDE Variant=DAV2, MDE delta_1=0.9552026.04 | 0.131 | — | — | — | 80.6 | — | |
| OursMDE Variant=Marigold(V2), MDE delta_1=0.4082026.04 | 0.159 | — | — | — | 72.3 | — | |
| LsidMDE Variant=Marigold(V2), MDE delta_1=0.4082026.04 | 0.164 | — | — | — | 70.9 | — | |
| MapAnything w/ SL+Learning Scheme=SL+2026.03 | 0.171 | — | 0.263 | — | 81 | — | |
| 3DGS (w/o depth)MDE Variant=None2026.04 | 0.18 | — | — | — | 67.8 | — | |
| MapAnything w/ SSLLearning Scheme=SSL2026.03 | 0.19 | — | 0.283 | — | 78.5 | — | |
| MapAnything w/ SLLearning Scheme=SL2026.03 | 0.195 | — | 0.289 | — | 78.6 | — | |
| Depth ProZero-Shot=Yes, LiDAR Usage=w/o LiDAR, Fine-tuned=No2024.12 | 0.2015 | 0.2406 | 0.2836 | 52.16 | — | — | |
| π³ w/ SL+Learning Scheme=SL+2026.03 | 0.212 | — | 0.32 | — | 77.1 | — | |
| π^3†Zero-shot evaluation=true, Training with DL3DV-10K=Alone, MVG Annotations=w2026.04 | 0.22 | — | — | — | — | 17.1 | |
| VGGT w/ SL+Learning Scheme=SL+2026.03 | 0.222 | — | 0.327 | — | 75.9 | — | |
| VGGT w/ SLLearning Scheme=SL2026.03 | 0.23 | — | 0.343 | — | 74.2 | — | |
| VGGT w/ SSLLearning Scheme=SSL2026.03 | 0.234 | — | 0.354 | — | 74.4 | — | |
| π³ w/ SSLLearning Scheme=SSL2026.03 | 0.239 | — | 0.357 | — | 74.1 | — | |
| π³ w/ SLLearning Scheme=SL2026.03 | 0.239 | — | 0.35 | — | 74.4 | — | |
| MapAnythingLearning Scheme=Baseline2026.03 | 0.274 | — | 0.394 | — | 67.2 | — | |
| π³Learning Scheme=Baseline2026.03 | 0.282 | — | 0.421 | — | 66.1 | — | |
| AnyCamZero-shot evaluation=true, Training with DL3DV-10K=No, MVG Annotations=w/o2026.04 | 0.286 | — | — | — | — | 9.5 | |
| VGGTLearning Scheme=Baseline2026.03 | 0.287 | — | 0.44 | — | 61.8 | — |