Monocular Depth Estimation on KITTI Eigen split

0.048Abs RelScaleDepth-K

Evaluation Results

Method
ScaleDepth-K2024.07	0.048	0.136	1.987	0.073	98	99.8	100	—	—
WorDepth2024.04	0.049	—	2.039	0.074	97.9	99.8	99.9	—	—
PixelFormer+MAMo2023.07	0.049	0.13	1.884	0.072	97.7	0.998	0.9995	—	—
Ours2026.04	0.049	0.147	2.062	0.07	97.6	99.8	99.9	—	—
IEBins2023.09	0.05	0.142	2.011	0.075	97.8	99.8	99.9	—	—
iDisc2024.07	0.05	0.145	2.067	0.077	97.7	99.7	99.9	—	—
IEBins2024.07	0.05	0.142	2.011	0.075	97.8	99.8	99.9	—	—
SwinV2-MIM2023.07	0.05	0.139	1.966	0.075	97.7	0.998	0.9995	—	—
URCDC2023.07	0.05	0.142	2.032	0.076	97.7	0.997	0.9994	—	—
NeWCRFs+MAMo2023.07	0.05	0.141	2.003	0.076	97.7	0.998	0.9994	—	—
DDP2026.04	0.05	0.148	—	0.076	97.5	99.7	99.9	—	—
PixelFormer2023.09	0.051	0.149	2.081	0.077	97.6	99.7	99.9	—	—
NeWCRFs+MAMo2023.07	0.051	0.149	2.09	0.078	97.6	0.998	0.9994	—	—
PixelFormer2026.03	0.051	—	—	—	97.6	—	—	—	0.36
PixelFormer2026.04	0.051	0.149	2.081	0.077	97.6	99.7	99.9	—	—
NeWCRFs2023.09	0.052	0.155	2.129	0.079	97.4	99.7	99.9	—	—
BinsFormer2023.09	0.052	0.151	2.098	0.079	97.4	99.7	99.9	—	—
NeWCRFs2024.04	0.052	—	2.129	0.079	97.4	99.7	99.9	—	—
DepthFormer2024.04	0.052	—	2.143	0.079	97.5	99.7	99.9	—	—
NeWCRFs2024.07	0.052	0.155	2.129	0.079	97.4	99.7	99.9	—	—
BinsFormer2024.07	0.052	0.151	2.098	0.079	97.4	99.7	99.9	—	—
DPT2024.10	0.052	—	2.198	0.08	97.4	99.7	99.9	—	—
BinsFormer2023.07	0.052	0.151	2.098	0.079	97.5	0.997	0.9992	—	—
PixelFormer2023.07	0.052	0.152	2.093	0.079	97.5	0.997	0.9994	—	—
DepthFormer2026.01	0.052	0.158	2.143	0.079	97.5	99.7	99.9	—	—
NeWCRFs2026.01	0.052	0.155	2.129	0.079	97.4	99.7	99.9	—	—
DPT-Hybrid2026.01	0.052	—	2.198	0.08	97.4	99.7	99.9	—	—
BinsFormer2026.03	0.052	—	—	—	97.4	—	—	—	0.38
NeWCRFs2026.03	0.052	—	—	—	97.5	—	—	—	0.36
BinsFormer2026.04	0.052	0.151	2.098	0.079	97.5	—	—	—	—
NeWCRFs2026.04	0.052	0.155	2.129	0.079	97.4	99.7	99.9	—	—
NeWCRFs2023.07	0.053	0.154	2.118	0.08	97.4	0.997	0.9994	—	—
Yu et al.2024.04	0.054	—	2.134	0.081	97.2	99.6	99.9	—	—
Baseline2024.04	0.054	—	2.343	0.085	96.9	99.6	99.9	—	—
ZoeDepth2024.10	0.054	—	2.281	0.082	97.1	99.6	99.9	—	—
NeWCRFs2023.07	0.054	0.157	2.14	0.081	97.3	0.997	0.9993	—	—
ZoeDepth2026.01	0.054	—	2.281	0.082	97.1	99.6	99.9	—	—
EvoNet-K32026.03	0.054	—	—	—	96.9	—	—	—	3.68
ZoeDepth2026.04	0.054	0.189	2.44	0.083	97	99.6	99.9	—	—
IEBins2023.09	0.056	0.169	2.205	0.084	97	99.6	99.9	—	—
IEBins2026.03	0.056	—	—	—	97	—	—	—	1.07
EvoNet-K22026.03	0.056	—	—	—	96.6	—	—	—	4.28
CaBins2026.01	0.057	0.186	2.322	0.088	96.4	99.5	99.9	—	—
AdaBins2023.09	0.058	0.19	2.36	0.088	96.4	99.5	99.9	—	—
BinsFormer2023.09	0.058	0.183	2.286	0.088	96.8	99.5	99.9	—	—
ASTransformer2024.04	0.058	—	2.685	0.089	96.3	99.5	99.9	—	—
AdaBins2024.04	0.058	—	2.36	0.089	96.4	99.5	99.9	—	—
AdaBins2023.07	0.058	0.19	2.36	0.088	96.4	0.995	0.9991	—	—
DepthFormer2023.07	0.058	0.187	2.285	0.087	96.7	0.996	0.9991	—	—
ASTransformer2026.01	0.058	—	2.685	0.089	96.3	99.5	99.9	—	—
iDisc2026.03	0.058	—	—	—	96.8	—	—	—	2.38
AdaBins2026.04	0.058	0.19	2.36	0.088	96.4	99.5	99.9	—	—
Language-guided Depth Calibration Framework (DPT-Hybrid)2026.01	0.059	—	2.32	0.088	96.4	99.5	99.9	—	—
BTS2026.04	0.059	0.241	2.756	0.09	95.6	99.3	99.8	—	—
BTS2023.09	0.06	0.249	2.798	0.096	95.5	99.3	99.8	—	—
PWA2023.09	0.06	0.221	2.604	0.093	95.8	99.4	99.9	—	—
Big to Small2024.04	0.06	—	2.798	0.096	95.5	99.3	99.8	—	—
BTS2024.07	0.06	0.249	2.798	0.096	95.5	99.3	99.8	—	—
AdaBins2024.07	0.06	0.197	2.372	0.09	96.3	99.5	99.9	—	—
RSA (DPT)2024.10	0.06	—	2.342	0.089	96.2	99.4	99.8	—	—
ManyDepth-FS2023.07	0.06	0.248	2.747	0.099	95.5	0.993	0.9981	—	—
Language-guided Depth Calibration Framework (DPT-Hybrid)2026.01	0.06	—	2.33	0.089	96.5	99.5	99.9	—	—
DPT-Hybrid2026.01	0.06	—	2.342	0.089	96.2	99.4	99.8	—	—
EvoNet-K12026.03	0.06	—	—	—	96	—	—	—	5.34
PWA2026.04	0.06	0.221	2.604	0.093	95.8	99.4	99.9	—	—
RSA (DPT)2024.10	0.061	—	2.354	0.09	96.3	99.5	99.9	—	—
DPT-Hybrid2026.01	0.061	—	2.354	0.09	96.3	99.5	99.9	—	—
BTS2026.03	0.061	—	—	—	95.4	—	—	—	1.43
DPT-Hybird2024.04	0.062	—	2.573	0.092	95.9	99.5	99.9	—	—
DPT2024.10	0.062	—	2.575	0.092	95.9	99.5	99.9	—	—
DPT2026.03	0.062	—	—	—	95.9	—	—	—	0.78
DPT*2026.04	0.062	—	2.573	0.092	95.9	99.5	99.9	—	—
TransDepth2023.09	0.064	0.252	2.755	0.098	95.6	99.4	99.9	—	—
TransDepth2024.04	0.064	—	2.755	0.098	95.6	99.4	99.9	—	—
DPT2024.10	0.064	—	2.379	0.092	96.1	99.5	99.9	—	—
RSA (DPT)2024.10	0.064	—	2.335	0.091	96.1	99.4	99.9	—	—
DPT-Hybrid2026.01	0.064	—	2.379	0.092	96.1	99.5	99.9	—	—
DPT2024.10	0.066	—	2.477	0.098	95.6	98.9	99.3	—	—
DPT-Hybrid2026.01	0.066	—	2.477	0.098	95.6	98.9	99.3	—	—
AdaBins2026.03	0.067	—	—	—	94.9	—	—	—	1.21
DPT2024.10	0.068	—	2.568	0.098	95.2	98.7	99.3	—	—
DPT2024.10	0.069	—	3.365	0.1	95	99.4	99.9	—	—
ManyDepth-FS2023.07	0.069	0.342	3.414	0.111	93	0.989	0.997	—	—
P3Depth2023.09	0.071	0.27	2.842	0.103	95.3	99.3	99.8	—	—
TC-Depth-FS2023.07	0.071	0.33	3.222	0.108	92.2	0.993	0.997	—	—
ResNet-DPT+MAMo2023.07	0.071	0.301	2.984	0.121	92.6	0.99	0.9971	—	—
P3Depth2026.03	0.071	—	—	—	95.3	—	—	—	1.01
DORN2023.09	0.072	0.307	2.727	0.12	93.2	98.4	99.4	—	—
VNL2023.09	0.072	—	3.258	0.117	93.8	99	99.8	—	—
DORN2024.04	0.072	—	2.727	0.12	93.2	98.4	99.5	—	—
Yin et al.2024.04	0.072	—	3.258	0.117	93.8	99	99.8	—	—
DORN2024.07	0.072	0.307	2.727	0.12	93.2	98.4	99.4	—	—
DORN2026.01	0.072	0.307	2.727	0.12	93.2	98.4	99.4	—	—
CLIP2Depth2026.01	0.074	0.303	2.948	—	93.8	99	99.8	—	—
Depth Anything2024.09	0.076	—	—	—	94.7	—	—	2.2	—
PrimeDepth2024.09	0.079	—	—	—	93.7	—	—	2	—
Flow2Depth2023.07	0.081	0.488	3.651	0.146	91.2	0.97	0.9883	—	—
ResNet-DPT2023.07	0.085	0.383	3.242	0.13	91.3	0.981	0.996	—	—
ProDepth2024.07	0.086	0.629	4.139	0.166	91.8	96.9	98.4	—	—
DepthFormer2024.07	0.09	0.661	4.149	0.175	90.5	96.7	98.4	—	—