Monocular Depth Estimation on KITTI (Eigen)

0.034Abs RelIID-RDepth

Evaluation Results

Method
IID-RDepth2026.04	0.034	0.057	1.295	0.052	99.2	99.9	100	—	—	37.77
Depth Anything2024.01	0.046	—	1.896	0.069	98.2	99.8	100	—	—	—
perceptual diffusion model2023.12	0.047	—	1.929	—	98.2	99.8	100	—	—	—
IID-RDepth2026.04	0.047	0.107	1.722	0.069	98.4	99.9	100	—	—	17.25
NDDepth2023.09	0.048	0.107	1.513	0.071	98.1	99.8	100	—	—	—
GBDepth2023.12	0.048	—	2.044	—	97.6	99.7	99.9	—	—	—
GEDepth2024.01	0.048	—	2.044	0.076	97.6	99.7	99.9	—	—	—
EVP2026.04	0.048	0.136	2.015	0.073	98	99.9	100	—	—	3.17
ECoDepth2026.04	0.048	0.139	2.039	0.074	97.9	99.7	100	—	—	2.02
URCDC-Depth2023.02	0.049	0.108	1.528	0.072	98.1	99.8	100	—	—	—
MAMO2023.12	0.049	—	1.984	—	97.7	99.8	100	—	—	—
WorDepth2026.04	0.049	—	2.039	0.074	97.9	99.8	99.9	—	—	2.02
GEDepth2026.04	0.049	0.143	2.054	0.076	—	—	—	—	—	1.3
URCDC-Depth2023.02	0.05	0.142	2.032	0.076	97.7	99.7	99.9	—	—	—
NDDepth2023.09	0.05	0.141	2.025	0.075	97.8	99.8	99.9	—	—	—
SwinV2-MIM2023.12	0.05	—	1.966	—	97.7	99.8	100	—	—	—
DDP2023.12	0.05	—	2.072	—	97.5	99.7	99.9	—	—	—
SwinV2-L2024.01	0.05	—	1.966	0.075	97.7	99.8	100	—	—	—
NDDepth2024.01	0.05	—	2.025	0.075	97.8	99.8	99.9	—	—	—
DiffusionDepth2024.12	0.05	—	—	—	97.7	—	—	—	—	—
URCDC2026.04	0.05	0.142	2.032	0.076	97.7	99.7	99.9	—	—	2.35
NDDepth2026.04	0.05	0.141	2.025	0.075	97.8	99.8	99.9	—	—	2.69
DDP2026.04	0.05	0.148	2.072	0.076	97.5	99.7	99.9	—	—	0.43
DiffusionDepth2026.04	0.05	0.141	2.016	0.074	97.7	99.8	99.9	—	—	3.12
iDisc2026.04	0.05	0.145	2.067	0.077	97.7	99.7	99.9	—	—	0.67
IID-RDepth2026.04	0.05	0.14	1.996	0.075	97.9	99.8	100	—	—	4.09
PixelFormer2023.12	0.051	—	2.081	—	97.6	99.7	99.9	—	—	—
PixelFormer2026.04	0.051	0.149	2.081	0.077	97.6	99.7	99.9	—	—	0
DepthFormer2023.02	0.052	0.158	2.143	0.079	97.5	99.7	99.9	—	—	—
NeWCRFs2023.02	0.052	0.155	2.129	0.079	97.4	99.7	99.9	—	—	—
NeWCRFs2023.09	0.052	0.155	2.129	0.079	97.4	99.7	99.9	—	—	—
DepthFormer2022.03	0.052	0.158	2.143	0.079	97.5	99.7	99.9	—	—	—
DepthFormer2023.12	0.052	—	2.143	—	97.5	99.7	99.9	—	—	—
NeWCRFs2024.01	0.052	—	2.129	0.079	97.4	99.7	99.9	—	—	—
DepthFormer2024.12	0.052	—	—	—	97.5	—	—	—	—	—
BinsFormer2024.12	0.052	—	—	—	97.4	—	—	—	—	—
NeWCRFs2026.04	0.052	0.155	2.129	0.079	97.4	99.7	99.9	—	—	-2.31
Depthformer2026.04	0.052	0.158	2.143	0.079	97.5	99.7	99.8	—	—	-2.98
CrossFlow2024.12	0.053	—	—	—	97.3	—	—	—	—	—
BinsFormer2026.04	0.053	0.156	2.141	0.08	97.4	99.7	99.9	—	—	-2.88
ZoeDepth2024.01	0.054	—	2.281	0.082	97.1	99.6	99.9	—	—	—
P3Depth2023.02	0.055	0.13	1.651	0.081	97.4	99.7	99.9	—	—	—
P3Depth2023.09	0.055	0.13	1.651	0.081	97.4	99.7	99.9	—	—	—
BTS2020.10	0.056	0.169	1.925	0.087	96.4	99.4	99.9	—	—	—
PWA2023.02	0.057	0.161	1.872	0.087	96.5	99.5	99.9	—	—	—
PWA2023.09	0.057	0.161	1.872	0.087	96.5	99.5	99.9	—	—	—
ZoeDepth2023.12	0.057	—	—	—	—	—	—	—	—	—
Adabins2022.07	0.058	—	2.36	—	96.4	99.5	99.9	—	—	—
Depthformer2022.07	0.058	—	2.285	—	96.7	99.6	99.9	—	—	—
Adabins2023.02	0.058	0.19	2.36	0.088	96.4	99.5	99.9	—	—	—
BTS2023.02	0.058	0.183	1.995	0.09	96.2	99.4	99.9	—	—	—
Adabins2023.09	0.058	0.19	2.36	0.088	96.4	99.5	99.9	—	—	—
BTS2023.09	0.058	0.183	1.995	0.09	96.2	99.4	99.9	—	—	—
AdaBins2022.03	0.058	0.19	2.36	0.088	96.4	99.5	99.9	—	—	—
AdaBins2024.01	0.058	—	2.36	0.088	96.4	99.5	99.9	—	—	—
AdaBins2024.12	0.058	—	—	—	96.4	—	—	—	—	—
Adabin2026.04	0.058	0.19	2.36	0.088	96.4	99.5	99.9	—	—	-13.41
BTS2020.10	0.059	0.245	2.756	0.096	95.6	99.3	99.8	—	—	—
BTS2022.07	0.059	—	2.756	—	95.6	99.3	99.8	—	—	—
BTS2022.03	0.059	0.245	2.756	0.096	95.6	99.3	99.8	—	—	—
PWA2023.02	0.06	0.221	2.604	0.093	95.8	99.4	99.9	—	—	—
PWA2023.09	0.06	0.221	2.604	0.093	95.8	99.4	99.9	—	—	—
BTS2021.03	0.061	0.261	2.834	0.099	95.4	99.2	99.8	—	—	—
BTS2023.02	0.061	0.261	2.834	0.099	95.4	99.2	99.8	—	—	—
TransDepth2023.02	0.061	0.185	1.992	0.091	96.3	99.5	99.9	—	—	—
BTS2023.09	0.061	0.261	2.834	0.099	95.4	99.2	99.8	—	—	—
DPT-Hybrid2022.07	0.062	—	2.573	—	95.9	99.5	99.9	—	—	—
DPT-Hybrid2022.03	0.062	—	2.573	0.092	95.9	99.5	99.9	—	—	—
DPT2024.01	0.062	—	2.573	0.092	95.9	99.5	99.9	—	—	—
PGA-Net2021.03	0.063	0.267	2.634	0.101	95.2	99.2	99.8	—	—	—
FusionDepth (Refined Depth + GDC)2021.09	0.063	0.364	3.291	0.139	94.5	97.8	98.8	—	—	—
PGA-Net2022.03	0.063	0.267	2.634	0.101	95.2	99.2	99.8	—	—	—
Flex-X-Large (Ours)2026.07	0.063	0.328	3.188	0.102	95.2	99.1	99.8	—	—	—
TransDepth w/ ViT2021.03	0.064	0.258	2.761	0.099	95.5	99.3	99.9	—	—	—
TransDepth (Full)2021.03	0.064	0.252	2.755	0.098	95.6	99.4	99.9	—	—	—
TransDepth2023.02	0.064	0.252	2.755	0.098	95.6	99.4	99.9	—	—	—
TransDepth2023.09	0.064	0.252	2.755	0.098	95.6	99.4	99.9	—	—	—
TransDepth2022.03	0.064	0.252	2.755	0.098	95.6	99.4	99.9	—	—	—
DepthGen2023.12	0.064	—	2.985	—	95.3	99.1	99.8	—	—	—
TransDepth2024.12	0.064	—	—	—	95.6	—	—	—	—	—
TransDepth w/ AGD2021.03	0.065	0.261	2.766	0.101	95.3	99.3	99.8	—	—	—
FusionDepth (Initial Depth + GDC)2021.09	0.067	0.423	3.42	0.144	94.1	97.7	98.8	—	—	—
FAL-Net2021.03	0.068	0.276	2.906	0.106	94.4	99.1	99.8	—	—	—
Flex-X-Large (Ours)2026.07	0.068	0.32	3.136	0.106	94.9	99.1	99.8	—	—	—
DA2 (ViT-L)2026.07	0.07	0.376	3.178	0.104	95.6	99.2	99.8	—	—	—
DA2 (ViT-L)2026.07	0.07	0.347	3.083	0.104	95.6	99.3	99.8	—	—	—
DSN2020.10	0.071	0.267	2.351	0.111	94.4	98.9	99.7	—	—	—
PackNet2021.03	0.071	0.359	3.153	0.109	94.4	99	99.7	—	—	—
P3Depth2023.02	0.071	0.27	2.842	0.103	95.3	99.3	99.8	—	—	—
Fu et al.2023.02	0.071	0.268	2.271	0.116	93.6	98.5	99.5	—	—	—
P3Depth2023.09	0.071	0.27	2.842	0.103	95.3	99.3	99.8	—	—	—
P3Depth2024.01	0.071	—	2.842	0.103	95.3	99.3	99.8	—	—	—
P3Depth2026.04	0.071	0.27	2.842	0.103	95.3	99.3	99.8	—	—	-36.56
P3Depth2026.04	0.071	0.27	2.842	0.103	95.3	99.3	99.8	—	—	-36.57
DORN et al.2020.01	0.072	0.307	2.727	0.12	93.2	98.4	99.4	—	—	—
DORN2020.03	0.072	0.307	2.727	0.12	93.2	98.4	99.4	—	—	—
VNL2020.10	0.072	—	3.258	0.117	93.8	99	99.8	—	—	—
DORN2020.10	0.072	0.307	2.727	0.12	93.2	98.4	99.4	—	—	—
DORN2021.03	0.072	0.307	2.727	0.12	93.2	98.4	99.4	—	—	—
Yin et al.2021.03	0.072	—	3.258	0.117	93.8	99	99.8	—	—	—