Metric Depth Estimation on KITTI in-domain (test)
98.9Acc (δ < 1.25)Metric3D v2
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Metric3D v2Backbone=ViT-g, CSTM=label, Protocol=fine-tuned2024.03 | 98.9 | 99.8 | 100 | 0.039 | 1.766 | 0.06 | |
| Metric3D v2Backbone=ViT-L, CSTM=label, Protocol=fine-tuned2024.03 | 98.5 | 99.8 | 99.9 | 0.044 | 1.985 | 0.064 | |
| Depth Anything V2Backbone=ViT-L2024.06 | 98.3 | 99.8 | 100 | 0.045 | 1.861 | 0.067 | |
| DepthAnythingProtocol=fine-tuned2024.03 | 98.2 | 99.8 | 100 | 0.046 | 1.869 | 0.069 | |
| Depth Anything V2Backbone=ViT-B2024.06 | 97.9 | 99.8 | 100 | 0.048 | 1.999 | 0.072 | |
| NDDepthEncoder Size=close to ViT-L2024.06 | 97.8 | 99.8 | 99.9 | 0.05 | 2.025 | 0.075 | |
| IEBinsEncoder Size=close to ViT-L2024.06 | 97.8 | 99.8 | 99.9 | 0.05 | 2.011 | 0.075 | |
| IEBins2024.03 | 97.8 | 99.8 | 99.9 | 0.05 | 2.011 | 0.075 | |
| SwinV2Encoder Size=close to ViT-L2024.06 | 97.7 | 99.8 | 100 | 0.05 | 1.966 | 0.075 | |
| Metric3D v2Backbone=ViT-g, CSTM=label, Protocol=zero-shot2024.03 | 97.7 | 99.6 | 99.9 | 0.051 | 2.403 | 0.08 | |
| GEDepthEncoder Size=close to ViT-L2024.06 | 97.6 | 99.7 | 99.9 | 0.048 | 2.044 | 0.076 | |
| NeWCRFsEncoder Size=close to ViT-L2024.06 | 97.4 | 99.7 | 99.9 | 0.052 | 2.129 | 0.079 | |
| NeWCRFs2024.03 | 97.4 | 99.7 | 99.9 | 0.052 | 2.129 | 0.079 | |
| Metric3D v2Backbone=ViT-L, CSTM=label, Protocol=zero-shot2024.03 | 97.4 | 99.5 | 99.9 | 0.052 | 2.511 | 0.074 | |
| Depth Anything V2Backbone=ViT-S2024.06 | 97.3 | 99.7 | 99.9 | 0.053 | 2.235 | 0.081 | |
| ZoeDepthEncoder Size=close to ViT-L2024.06 | 97.1 | 99.6 | 99.9 | 0.054 | 2.281 | 0.082 | |
| ZoeDepthProtocol=fine-tuned2024.03 | 97.1 | 99.6 | 99.9 | 0.057 | 2.281 | 0.082 | |
| ZeroDepthProtocol=fine-tuned2024.03 | 96.8 | 99.5 | 99.9 | 0.053 | 2.087 | 0.083 | |
| Metric3D v2Backbone=ConvNext-L, CSTM=image, Protocol=zero-shot2024.03 | 96.7 | 99.5 | 99.9 | 0.06 | 2.843 | 0.087 | |
| AdaBinsEncoder Size=close to ViT-L2024.06 | 96.4 | 99.5 | 99.9 | 0.058 | 2.36 | 0.088 | |
| Adabins2024.03 | 96.4 | 99.5 | 99.9 | 0.058 | 2.36 | 0.088 | |
| Metric3D v2Backbone=ConvNext-L, CSTM=label, Protocol=zero-shot2024.03 | 96.4 | 99.3 | 99.8 | 0.058 | 2.77 | 0.092 | |
| TrDepth2024.03 | 95.6 | 99.4 | 99.9 | 0.064 | 2.755 | 0.098 | |
| P3DepthEncoder Size=close to ViT-L2024.06 | 95.3 | 99.3 | 99.8 | 0.071 | 2.842 | 0.103 | |
| VNL2024.03 | 93.8 | 99 | 99.8 | 0.072 | 3.258 | 0.117 | |
| ZeroDepthProtocol=zero-shot2024.03 | 91 | 98 | 99.6 | 0.102 | 4.044 | 0.172 | |
| Guo et al.2024.03 | 90.2 | 96.9 | 98.6 | 0.09 | 3.258 | 0.168 |