Monocular Depth Estimation on ETH3D
0.124AbsRelMetric3D v2
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Metric3D v2evaluation_mode=Zero-shot2026.01 | 0.124 | — | 0.053 | 99.55 | 99.9 | — | — | — | — | — | — | |
| Student-DepthMapevaluation_mode=Zero-shot2026.01 | 0.147 | — | 0.064 | 97.71 | 99.9 | — | — | — | — | — | — | |
| PatchFusionevaluation_mode=Zero-shot2026.01 | 0.256 | — | 0.106 | 88.38 | 97.31 | — | — | — | — | — | — | |
| Depth Proevaluation_mode=Zero-shot2026.01 | 0.327 | — | 0.193 | 61.31 | 71.23 | — | — | — | — | — | — | |
| DepthAnything v2evaluation_mode=Zero-shot2026.01 | 0.37 | — | 0.173 | 64.66 | 86.26 | — | — | — | — | — | — | |
| UniDepthevaluation_mode=Zero-shot2026.01 | 0.457 | — | 0.186 | 57.67 | 81.48 | — | — | — | — | — | — | |
| ZoeDepthevaluation_mode=Zero-shot2026.01 | 0.5 | — | 0.176 | 64.45 | 81.43 | — | — | — | — | — | — | |
| Metric3Devaluation_mode=Zero-shot2026.01 | 0.859 | — | 0.24 | 49.29 | 57.57 | — | — | — | — | — | — | |
| DepthAnythingevaluation_mode=Zero-shot2026.01 | 1.682 | — | 0.38 | 19.78 | 31.06 | — | — | — | — | — | — | |
| DepthAnythingV2with Ours=true2026.05 | 1.7 | 98.8 | — | — | — | — | — | — | — | — | — | |
| DPTwith Ours=true2026.05 | 1.9 | 98.5 | — | — | — | — | — | — | — | — | — | |
| Metric3Dv2with Ours=true2026.05 | 1.9 | 98.6 | — | — | — | — | — | — | — | — | — | |
| GeoWizardwith Ours=true2026.05 | 2.1 | 98.4 | — | — | — | — | — | — | — | — | — | |
| DepthMasterwith Ours=true2026.05 | 2.1 | 98.4 | — | — | — | — | — | — | — | — | — | |
| LeReSwith Ours=true2026.05 | 2.2 | 98.4 | — | — | — | — | — | — | — | — | — | |
| Lotuswith Ours=true2026.05 | 2.2 | 98.5 | — | — | — | — | — | — | — | — | — | |
| UniDepthV2with Ours=true2026.05 | 2.3 | 98 | — | — | — | — | — | — | — | — | — | |
| Modality ForcingMethod Type=I2D from Joint Model2026.06 | 2.37 | 99.3 | — | — | — | — | — | — | — | — | — | |
| Marigoldwith Ours=true2026.05 | 2.5 | 97.8 | — | — | — | — | — | — | — | — | — | |
| Depth Prowith Ours=true2026.05 | 2.8 | 97.4 | — | — | — | — | — | — | — | — | — | |
| MoGe-2Method Type=Discriminative depth estimation2026.06 | 2.8 | 99.1 | — | — | — | — | — | — | — | — | — | |
| UniDepth V2Method Type=Discriminative depth estimation2026.06 | 2.95 | 98.5 | — | — | — | — | — | — | — | — | — | |
| MoGeFine-tuning=false, Evaluation Protocol=Scale-invariant relative depth2025.11 | 2.96 | 98.9 | — | — | — | — | — | — | — | — | — | |
| PPDType=Generative, Evaluation Protocol=Zero-shot2026.01 | 3 | 99.1 | — | — | — | — | — | — | — | — | — | |
| VGGT+OursFine-tuning=true, Evaluation Protocol=Scale-invariant relative depth2025.11 | 3.07 | 98.7 | — | — | — | — | — | — | — | — | — | |
| DepthLabSynthetic Training Samples=74k2024.12 | 3.1 | 97.9 | — | — | — | — | — | — | — | — | — | |
| Omnizero-shot=true2026.04 | 3.12 | 98.91 | — | — | — | — | — | — | — | — | — | |
| MoGe 2Type=Discriminative, Evaluation Protocol=Zero-shot2026.01 | 3.2 | 98.9 | — | — | — | — | — | — | — | — | — | |
| DA3 giantzero-shot=true2026.04 | 3.24 | 98.79 | — | — | — | — | — | — | — | — | — | |
| VGGTzero-shot=true2026.04 | 3.26 | 98.35 | — | — | — | — | — | — | — | — | — | |
| DAGEAlignment=Optimized scale and shift factor2026.03 | 3.49 | 98 | — | — | — | — | — | — | — | — | — | |
| MoGeAlignment=Optimized scale and shift factor2026.03 | 3.57 | 99 | — | — | — | — | — | — | — | — | — | |
| VGGTFine-tuning=false, Evaluation Protocol=Scale-invariant relative depth2025.11 | 3.64 | 97.5 | — | — | — | — | — | — | — | — | — | |
| MoGe2Alignment=Optimized scale and shift factor2026.03 | 3.89 | 98.7 | — | — | — | — | — | — | — | — | — | |
| PPDMethod Type=Generative depth estimation2026.06 | 4.02 | 98.3 | — | — | — | — | — | — | — | — | — | |
| DUSt3R+OursFine-tuning=true, Evaluation Protocol=Scale-invariant relative depth2025.11 | 4.41 | 96.8 | — | — | — | — | — | — | — | — | — | |
| Depth Anything v2Type=Discriminative, Evaluation Protocol=Zero-shot2026.01 | 4.6 | 97.9 | — | — | — | — | — | — | — | — | — | |
| DA-v2Method Type=Discriminative depth estimation2026.06 | 4.63 | 97.2 | — | — | — | — | — | — | — | — | — | |
| MASt3RMethod Type=Discriminative depth estimation2026.06 | 4.64 | 97 | — | — | — | — | — | — | — | — | — | |
| CUT3R+OursFine-tuning=true, Evaluation Protocol=Scale-invariant relative depth2025.11 | 4.67 | 96.6 | — | — | — | — | — | — | — | — | — | |
| CUT3RFine-tuning=false, Evaluation Protocol=Scale-invariant relative depth2025.11 | 4.69 | 96.4 | — | — | — | — | — | — | — | — | — | |
| BetterDepth-2KTraining samples=2K, Feed-forward=true, Diffusion=true, Zero-shot=true2024.07 | 4.7 | 98.1 | — | — | — | — | — | — | — | — | — | |
| BetterDepthTraining samples=74K, Feed-forward=true, Diffusion=true, Zero-shot=true2024.07 | 4.7 | 98.1 | — | — | — | — | — | — | — | — | — | |
| MarigoldMethod Type=Generative depth estimation2026.06 | 4.9 | 97.2 | — | — | — | — | — | — | — | — | — | |
| Depth ProMethod Type=Discriminative depth estimation2026.06 | 4.97 | 96.4 | — | — | — | — | — | — | — | — | — | |
| BetterDepth-400Training samples=400, Feed-forward=true, Diffusion=true, Zero-shot=true2024.07 | 5 | 97.8 | — | — | — | — | — | — | — | — | — | |
| BetterDepthGT aligned=true2024.11 | 5 | 98 | — | — | — | — | — | — | — | — | — | |
| LotusMethod Type=Generative depth estimation2026.06 | 5.25 | 96.7 | — | — | — | — | — | — | — | — | — | |
| DepthMasterTraining Data=74K, zero-shot=true, affine-invariant=true2025.01 | 5.3 | 97.4 | — | — | — | — | — | — | — | — | — | |
| DepthMasterwith Ours=false2026.05 | 5.3 | 97.4 | — | — | — | — | — | — | — | — | — | |
| JointDiTMethod Type=I2D from Joint Model2026.06 | 5.32 | 97 | — | — | — | — | — | — | — | — | — | |
| DUSt3RFine-tuning=false, Evaluation Protocol=Scale-invariant relative depth2025.11 | 5.35 | 95.9 | — | — | — | — | — | — | — | — | — | |
| Cross-Context DistillationZero-shot=true, Teacher Model=DepthAnythingv2-Large2025.02 | 5.4 | 98.1 | — | — | — | — | — | — | — | — | — | |
| MiDaSwith Ours=true2026.05 | 5.5 | 94.4 | — | — | — | — | — | — | — | — | — | |
| Marigoldzero-shot=true2026.04 | 5.64 | 97.12 | — | — | — | — | — | — | — | — | — | |
| Cross-Context DistillationZero-shot=true, Teacher Model=MiDaS v3.12025.02 | 5.7 | 97.6 | — | — | — | — | — | — | — | — | — | |
| Depth ProType=Discriminative, Evaluation Protocol=Zero-shot2026.01 | 5.8 | 97 | — | — | — | — | — | — | — | — | — | |
| DepthFMType=Generative, Evaluation Protocol=Zero-shot2026.01 | 5.8 | 96.2 | — | — | — | — | — | — | — | — | — | |
| LotusType=Generative, Evaluation Protocol=Zero-shot2026.01 | 5.9 | 97 | — | — | — | — | — | — | — | — | — | |
| MarigoldGT aligned=true2024.11 | 6 | 96 | — | — | — | — | — | — | — | — | — | |
| LotusGT aligned=false2024.11 | 6 | 96 | — | — | — | — | — | — | — | — | — | |
| Depth Prowith Ours=false2026.05 | 6 | 96.5 | — | — | — | — | — | — | — | — | — | |
| MiDaS v3.1Zero-shot=true2025.02 | 6.1 | 96.8 | — | — | — | — | — | — | — | — | — | |
| GeoWizardMethod Type=Generative depth estimation2026.06 | 6.15 | 95.3 | — | — | — | — | — | — | — | — | — | |
| Depth AnythingTraining samples=63.5M, Feed-forward=true, Diffusion=false, Zero-shot=true2024.07 | 6.2 | 98 | — | — | — | — | — | — | — | — | — | |
| Depth Anything V2Training Data=63.5M, zero-shot=true, affine-invariant=true2025.01 | 6.2 | 98 | — | — | — | — | — | — | — | — | — | |
| GenPerceptTraining Data=74K, zero-shot=true, affine-invariant=true2025.01 | 6.2 | 95.8 | — | — | — | — | — | — | — | — | — | |
| Marigold E2EPrior=SD - 2.3B, training samples=74K2025.12 | 6.2 | 95.9 | — | — | — | — | — | — | — | — | — | |
| DepthAnythingV2with Ours=false2026.05 | 6.2 | 98 | — | — | — | — | — | — | — | — | — | |
| Cut3rzero-shot=true2026.04 | 6.32 | 95.34 | — | — | — | — | — | — | — | — | — | |
| GeoWizardTraining samples=280K, Feed-forward=false, Diffusion=true, Zero-shot=true2024.07 | 6.4 | 96.1 | — | — | — | — | — | — | — | — | — | |
| GeoWizardTraining Data=280K, zero-shot=true, affine-invariant=true2025.01 | 6.4 | 96.1 | — | — | — | — | — | — | — | — | — | |
| GeoWizardType=Generative, Evaluation Protocol=Zero-shot2026.01 | 6.4 | 96.1 | — | — | — | — | — | — | — | — | — | |
| GeoWizardSynthetic Training Samples=278K2024.12 | 6.4 | 96.3 | — | — | — | — | — | — | — | — | — | |
| GeoWizardwith Ours=false2026.05 | 6.4 | 96.1 | — | — | — | — | — | — | — | — | — | |
| MarigoldReal training samples=None, Synthetic training samples=74K, Zero-shot=true, Ensemble=true2023.12 | 6.5 | 96 | — | — | — | — | — | — | — | — | — | |
| MarigoldTraining samples=74K, Feed-forward=false, Diffusion=true, Zero-shot=true2024.07 | 6.5 | 96 | — | — | — | — | — | — | — | — | — | |
| MarigoldTraining Data=74K, zero-shot=true, affine-invariant=true2025.01 | 6.5 | 96 | — | — | — | — | — | — | — | — | — | |
| DepthFMTraining Data=74K, zero-shot=true, affine-invariant=true2025.01 | 6.5 | 95.4 | — | — | — | — | — | — | — | — | — | |
| MarigoldZero-shot=true2025.02 | 6.5 | 96 | — | — | — | — | — | — | — | — | — | |
| MarigoldType=Generative, Evaluation Protocol=Zero-shot2026.01 | 6.5 | 96 | — | — | — | — | — | — | — | — | — | |
| Marigoldwith Ours=false2026.05 | 6.5 | 96 | — | — | — | — | — | — | — | — | — | |
| GenPerceptType=Generative, Evaluation Protocol=Zero-shot2026.01 | 6.6 | 95.7 | — | — | — | — | — | — | — | — | — | |
| Metric3DPrior=DINOv2 - 142M, training samples=16M2025.12 | 6.6 | 95.8 | — | — | — | — | — | — | — | — | — | |
| MarigoldPrior=SD - 2.3B, training samples=74K2025.12 | 6.6 | 95.8 | — | — | — | — | — | — | — | — | — | |
| MarigoldSynthetic Training Samples=74k2024.12 | 6.6 | 95.9 | — | — | — | — | — | — | — | — | — | |
| LotusTraining Data=59K, zero-shot=true, affine-invariant=true2025.01 | 6.8 | 95.3 | — | — | — | — | — | — | — | — | — | |
| Lotuswith Ours=false2026.05 | 6.8 | 95.3 | — | — | — | — | — | — | — | — | — | |
| Marigold v1.1Prior=SD - 2.3B, training samples=74K2025.12 | 6.9 | 95.7 | — | — | — | — | — | — | — | — | — | |
| MarigoldReal training samples=None, Synthetic training samples=74K, Zero-shot=true, Ensemble=false2023.12 | 7.1 | 95.1 | — | — | — | — | — | — | — | — | — | |
| ZoeDepthMethod Type=Discriminative depth estimation2026.06 | 7.27 | 94.2 | — | — | — | — | — | — | — | — | — | |
| DPTReal Training Samples=1.2M, Synthetic Training Samples=188K2024.12 | 7.7 | 94.6 | — | — | — | — | — | — | — | — | — | |
| DepthProAlignment=Optimized scale and shift factor2026.03 | 7.73 | 94 | — | — | — | — | — | — | — | — | — | |
| DPTReal training samples=1.2M, Synthetic training samples=188K, Zero-shot=true2023.12 | 7.8 | 94.6 | — | — | — | — | — | — | — | — | — | |
| DPTZero-shot=true2025.02 | 7.8 | 94.6 | — | — | — | — | — | — | — | — | — | |
| DPTType=Discriminative, Evaluation Protocol=Zero-shot2026.01 | 7.8 | 94.6 | — | — | — | — | — | — | — | — | — | |
| DPTPrior=ImageNet - 14M, training samples=1.4M2025.12 | 7.8 | 94.6 | — | — | — | — | — | — | — | — | — | |
| VAR-DepthPrior=Switti - 100M, training samples=74K, config=optimized wk2025.12 | 8.1 | 92.2 | — | — | — | — | — | — | — | — | — | |
| UniConMethod Type=I2D from Joint Model2026.06 | 8.77 | 92.9 | — | — | — | — | — | — | — | — | — | |
| GenPerceptZero-shot=true2025.02 | 9.6 | 95.9 | — | — | — | — | — | — | — | — | — |