# Metric Depth Estimation on NuScenes DepthVLM-Bench (evaluation)

Source: [Metric Depth Estimation on NuScenes DepthVLM-Bench (evaluation)](<https://www.sota2.com/research/sota/metric-depth-estimation-on-nuscenes-depthvlm-bench-evaluation>)

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

Data updated: 2026-05-18T08:28:12.227Z

Evaluation of Metric Depth Estimation performance using the NuScenes DepthVLM-Bench evaluation protocol.

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 | Metric Depth Estimation |
| Dataset (including any stated split) | NuScenes DepthVLM-Bench (evaluation) |
| Metric | Delta 1 Score |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 11 of 11 |
| 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

- [Delta 1 Score](<https://www.sota2.com/research/sota/metric-depth-estimation-on-nuscenes-depthvlm-bench-evaluation.md?metric=Delta%201%20Score>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Delta 1 Score | Result date | Report paper |
| --- | --- | --- | --- |
| UniDepthV2 | 87.2 | Not recorded | 6a0a9cecdbc836b87d82b2f8 |
| UniDepth | 85.8 | Not recorded | 6a0a9cecdbc836b87d82b2f8 |
| DepthVLM-8B | 83.1 | Not recorded | 6a0a9cecdbc836b87d82b2f8 |
| DepthVLM-4B | 82.1 | Not recorded | 6a0a9cecdbc836b87d82b2f8 |
| DepthAnythingV3 | 79 | Not recorded | 6a0a9cecdbc836b87d82b2f8 |
| Metric3Dv2 | 74.7 | Not recorded | 6a0a9cecdbc836b87d82b2f8 |
| Metric3D | 72.1 | Not recorded | 6a0a9cecdbc836b87d82b2f8 |
| Depth Pro | 38.9 | Not recorded | 6a0a9cecdbc836b87d82b2f8 |
| DepthAnything | 20.5 | Not recorded | 6a0a9cecdbc836b87d82b2f8 |
| ZoeDepth | 19.6 | Not recorded | 6a0a9cecdbc836b87d82b2f8 |
| DepthAnythingV2 | 16.8 | Not recorded | 6a0a9cecdbc836b87d82b2f8 |

### UniDepthV2

Delta 1 Score: 87.2. Result ID: 6a0acd3c47f34ce924f0e385.

[Reporting paper](<https://www.sota2.com/research/paper/6a0a9cecdbc836b87d82b2f8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa772f1e209131cea71a6d.md>)

[Implementation](<https://www.sota2.com/github.com/lpiccinelli-eth/UniDepth>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### UniDepth

Delta 1 Score: 85.8. Result ID: 6a0acd3c47f34ce924f0e384.

[Reporting paper](<https://www.sota2.com/research/paper/6a0a9cecdbc836b87d82b2f8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72ad1e209131cea57c8e.md>)

[Implementation](<https://www.sota2.com/github.com/lpiccinelli-eth/unidepth>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### DepthVLM-8B

Delta 1 Score: 83.1. Result ID: 6a0acd3c47f34ce924f0e38a.

[Reporting paper](<https://www.sota2.com/research/paper/6a0a9cecdbc836b87d82b2f8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a0a9cecdbc836b87d82b2f8.md>)

[Implementation](<https://github.com/hanxunyu/DepthVLM>)

Recorded evaluation configuration: {"Backbone":"Qwen3-VL","Parameters":"8B"}. This record does not assert independent reproduction.

### DepthVLM-4B

Delta 1 Score: 82.1. Result ID: 6a0acd3c47f34ce924f0e389.

[Reporting paper](<https://www.sota2.com/research/paper/6a0a9cecdbc836b87d82b2f8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a0a9cecdbc836b87d82b2f8.md>)

[Implementation](<https://github.com/hanxunyu/DepthVLM>)

Recorded evaluation configuration: {"Backbone":"Qwen3-VL","Parameters":"4B"}. This record does not assert independent reproduction.

### DepthAnythingV3

Delta 1 Score: 79. Result ID: 6a0acd3c47f34ce924f0e388.

[Reporting paper](<https://www.sota2.com/research/paper/6a0a9cecdbc836b87d82b2f8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6916b7a30052cac1dc65e1dd.md>)

[Implementation](<https://github.com/ByteDance-Seed/depth-anything-3>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Metric3Dv2

Delta 1 Score: 74.7. Result ID: 6a0acd3c47f34ce924f0e383.

[Reporting paper](<https://www.sota2.com/research/paper/6a0a9cecdbc836b87d82b2f8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa767a1e209131cea6d44d.md>)

[Implementation](<https://jugghm.github.io/Metric3Dv2>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Metric3D

Delta 1 Score: 72.1. Result ID: 6a0acd3c47f34ce924f0e382.

[Reporting paper](<https://www.sota2.com/research/paper/6a0a9cecdbc836b87d82b2f8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70181e209131cea48f09.md>)

[Implementation](<https://github.com/YvanYin/Metric3D>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Depth Pro

Delta 1 Score: 38.9. Result ID: 6a0acd3c47f34ce924f0e381.

[Reporting paper](<https://www.sota2.com/research/paper/6a0a9cecdbc836b87d82b2f8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78351e209131cea77395.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### DepthAnything

Delta 1 Score: 20.5. Result ID: 6a0acd3c47f34ce924f0e386.

[Reporting paper](<https://www.sota2.com/research/paper/6a0a9cecdbc836b87d82b2f8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72cb1e209131cea58771.md>)

[Implementation](<https://depth-anything.github.io/>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### ZoeDepth

Delta 1 Score: 19.6. Result ID: 6a0acd3c47f34ce924f0e380.

[Reporting paper](<https://www.sota2.com/research/paper/6a0a9cecdbc836b87d82b2f8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6e961e209131cea40e62.md>)

[Implementation](<https://github.com/isl-org/ZoeDepth>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### DepthAnythingV2

Delta 1 Score: 16.8. Result ID: 6a0acd3c47f34ce924f0e387.

[Reporting paper](<https://www.sota2.com/research/paper/6a0a9cecdbc836b87d82b2f8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75521e209131cea6728c.md>)

[Implementation](<https://depth-anything-v2.github.io/>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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