Monocular Depth Estimation on KITTI Eigen split (test)
0.05AbsRel MeaniDisc
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| iDiscEncoder=Swin-Large (SwinL)2023.04 | 0.05 | — | — | — | — | — | 97.7 | 99.7 | — | 0.145 | 0.077 | 0.896 | 2.067 | — | — | — | |
| PixelFormeradditional training data=false, upper bound=80 meters2022.10 | 0.051 | — | 2.081 | — | — | — | 97.6 | 99.7 | 99.9 | 0.149 | 0.077 | — | — | — | — | — | |
| DepthFormer (Teacher)Teacher model=DepthFormer, Number of parameters=273 M2024.02 | 0.0513 | — | 2.1038 | — | — | — | 97.52 | 99.7 | 99.93 | 0.1511 | 0.0783 | — | — | — | — | — | |
| NeW CRFscap=0-80m, additional training data=false2022.03 | 0.052 | — | 2.129 | — | — | — | 97.4 | 99.7 | 99.9 | 0.155 | 0.079 | — | — | — | — | — | |
| NeWCRFsVenue=CVPR'22, additional training data=false, upper bound=80 meters2022.10 | 0.052 | — | 2.129 | — | — | — | 97.4 | 99.7 | 99.9 | 0.155 | 0.079 | — | — | — | — | — | |
| NeWCRFEncoder=Swin-Large (SwinL)2023.04 | 0.052 | — | — | — | — | — | 97.4 | 99.7 | — | 0.155 | 0.079 | 0.887 | 2.129 | — | — | — | |
| iDiscEncoder=Swin-Base (SwinB)2023.04 | 0.054 | — | — | — | — | — | 97.4 | 99.7 | — | 0.159 | 0.081 | 0.885 | 2.149 | — | — | — | |
| BTSEncoder=DenseNet-161 (D161)2023.04 | 0.057 | — | — | — | — | — | 96.4 | 99.5 | — | 0.199 | 0.09 | 0.87 | 2.459 | — | — | — | |
| AdaBinsDepth range=0m to 80m2020.11 | 0.058 | — | 2.36 | — | — | — | 96.4 | 99.5 | 99.9 | 0.19 | 0.088 | — | — | — | — | — | |
| Adabincap=0-80m, additional training data=false2022.03 | 0.058 | — | 2.36 | — | — | — | 96.4 | 99.5 | 99.9 | 0.19 | 0.088 | — | — | — | — | — | |
| AdabinsVenue=CVPR'21, additional training data=false, upper bound=80 meters2022.10 | 0.058 | — | 2.36 | — | — | — | 96.4 | 99.5 | 99.9 | 0.19 | 0.088 | — | — | — | — | — | |
| AdaBins+Encoder=MViT (EfficientNet-B5-AP + MiniViT)2023.04 | 0.058 | — | — | — | — | — | 96.4 | 99.5 | — | 0.198 | 0.088 | 0.868 | 2.36 | — | — | — | |
| iDiscEncoder=Swin-Tiny (SwinT)2023.04 | 0.058 | — | — | — | — | — | 96.8 | 99.6 | — | 0.184 | 0.087 | 0.87 | 2.291 | — | — | — | |
| BTS (Teacher)Teacher model=BTS, Number of parameters=47M2024.02 | 0.0586 | — | 2.4798 | — | — | — | 96.02 | 99.4 | 99.86 | 0.206 | 0.0916 | — | — | — | — | — | |
| BTSDepth range=0m to 80m2020.11 | 0.059 | — | 2.756 | — | — | — | 95.6 | 99.3 | 99.8 | 0.245 | 0.096 | — | — | — | — | — | |
| BTScap=0-80m, additional training data=false2022.03 | 0.059 | — | 2.756 | — | — | — | 95.6 | 99.3 | 99.8 | 0.241 | 0.096 | — | — | — | — | — | |
| BTSVenue=Arxiv 19, additional training data=false, upper bound=80 meters2022.10 | 0.059 | — | 2.756 | — | — | — | 95.6 | 99.3 | 99.8 | 0.245 | 0.096 | — | — | — | — | — | |
| DPT*Encoder=ViT-B/16 + ResNet-50 (ViTB), Pre-training=in-house dataset2023.04 | 0.059 | — | — | — | — | — | 96.5 | 99.6 | — | 0.19 | 0.088 | 0.887 | 2.315 | — | — | — | |
| iDiscEncoder=ResNet-101 (R101)2023.04 | 0.059 | — | — | — | — | — | 96.5 | 99.6 | — | 0.197 | 0.09 | 0.86 | 2.362 | — | — | — | |
| AdaBins (Teacher)Teacher model=AdaBins, Number of parameters=78 M2024.02 | 0.0593 | — | 2.3309 | — | — | — | 96.31 | 99.46 | 99.9 | 0.1941 | 0.0901 | — | — | — | — | — | |
| PWAcap=0-80m, additional training data=false2022.03 | 0.06 | — | 2.604 | — | — | — | 95.8 | 99.4 | 99.9 | 0.221 | 0.093 | — | — | — | — | — | |
| DPTVenue=ICCV'21, additional training data=true, upper bound=80 meters2022.10 | 0.06 | — | 2.573 | — | — | — | 95.9 | 99.5 | 99.6 | — | 0.092 | — | — | — | — | — | |
| P3DepthEncoder=ResNet-101 (R101)2023.04 | 0.06 | — | — | — | — | — | 95.9 | 99.4 | — | 0.206 | 0.095 | 0.852 | 2.519 | — | — | — | |
| PackNet-SANcap=0-80m, additional training data=false2022.03 | 0.062 | — | 2.888 | — | — | — | 95.5 | — | — | — | — | — | — | — | — | — | |
| DPT*cap=0-80m, additional training data=true2022.03 | 0.062 | — | 2.573 | — | — | — | 95.9 | 99.5 | 99.9 | — | 0.092 | — | — | — | — | — | |
| PackNet-SANVenue=ICCV'21, additional training data=true, upper bound=80 meters2022.10 | 0.062 | — | 2.888 | — | — | — | 95.5 | — | — | — | — | — | — | — | — | — | |
| iDiscEncoder=EfficientNet-B5 (EB5)2023.04 | 0.063 | — | — | — | — | — | 96.3 | 99.4 | — | 0.223 | 0.094 | 0.852 | 2.51 | — | — | — | |
| TransDepthVenue=ICCV'21, additional training data=false, upper bound=80 meters2022.10 | 0.064 | — | 2.755 | — | — | — | 95.6 | 99.4 | 99.4 | 0.252 | 0.098 | — | — | — | — | — | |
| TransDepthEncoder=ViT-B/16 + ResNet-50 (ViTB)2023.04 | 0.064 | — | — | — | — | — | 95.6 | 99.4 | — | 0.252 | 0.098 | 0.865 | 2.755 | — | — | — | |
| TIE-KDTeacher model=AdaBins, Loss function(s)=LDPM, Ldepth2024.02 | 0.0654 | — | 2.4315 | — | — | — | 95.4 | 99.39 | 99.85 | 0.2179 | 0.098 | — | — | — | — | — | |
| TIE-KDTeacher model=BTS, Loss function(s)=LDPM, Ldepth2024.02 | 0.0656 | — | 2.4984 | — | — | — | 95.23 | 99.33 | 99.85 | 0.2247 | 0.0995 | — | — | — | — | — | |
| TIE-KDTeacher model=DepthFormer, Loss function(s)=LDPM, Ldepth2024.02 | 0.0657 | — | 2.4402 | — | — | — | 95.34 | 99.4 | 99.86 | 0.2208 | 0.098 | — | — | — | — | — | |
| BaselineNumber of parameters=17.6 M2024.02 | 0.0663 | — | 2.5625 | — | — | — | 95.01 | 99.26 | 99.84 | 0.234 | 0.1017 | — | — | — | — | — | |
| Res-KDTeacher model=DepthFormer, Loss function(s)=SSIM, SI2024.02 | 0.0682 | — | 2.5709 | — | — | — | 94.88 | 99.37 | 99.87 | 0.2382 | 0.1018 | — | — | — | — | — | |
| Res-KDTeacher model=BTS, Loss function(s)=SSIM, SI2024.02 | 0.069 | — | 2.6168 | — | — | — | 94.67 | 99.28 | 99.83 | 0.2462 | 0.1044 | — | — | — | — | — | |
| Res-KDTeacher model=DepthFormer, Loss function(s)=SSIM2024.02 | 0.0692 | — | 2.5009 | — | — | — | 94.93 | 99.37 | 99.87 | 0.2337 | 0.1019 | — | — | — | — | — | |
| Res-KDTeacher model=AdaBins, Loss function(s)=SSIM2024.02 | 0.0697 | — | 2.5639 | — | — | — | 94.57 | 99.33 | 99.85 | 0.2407 | 0.1041 | — | — | — | — | — | |
| Res-KDTeacher model=BTS, Loss function(s)=SSIM2024.02 | 0.0697 | — | 2.6357 | — | — | — | 94.34 | 99.3 | 99.85 | 0.246 | 0.105 | — | — | — | — | — | |
| Naderi et al.Venue=WACV'22, additional training data=false, upper bound=80 meters2022.10 | 0.07 | — | 3.223 | — | — | — | 94.4 | 99.1 | 99.8 | — | 0.113 | — | — | — | — | — | |
| Res-KDTeacher model=AdaBins, Loss function(s)=SSIM, SI2024.02 | 0.0701 | — | 2.5833 | — | — | — | 94.58 | 99.32 | 99.85 | 0.2445 | 0.1047 | — | — | — | — | — | |
| Fu et al.Depth range=0m to 80m2020.11 | 0.072 | — | 2.727 | — | — | — | 93.2 | 98.4 | 99.4 | 0.307 | 0.12 | — | — | — | — | — | |
| Yin et al.Depth range=0m to 80m2020.11 | 0.072 | — | 3.258 | — | — | — | 93.8 | 99 | 99.8 | — | 0.117 | — | — | — | — | — | |
| DORNcap=0-80m, additional training data=false2022.03 | 0.072 | — | 2.727 | — | — | — | 93.2 | 98.4 | 99.5 | 0.307 | 0.12 | — | — | — | — | — | |
| Yin et al.cap=0-80m, additional training data=false2022.03 | 0.072 | — | 3.258 | — | — | — | 93.8 | 99 | 99.8 | — | 0.117 | — | — | — | — | — | |
| DORNVenue=CVPR'18, additional training data=false, upper bound=80 meters2022.10 | 0.072 | — | 2.727 | — | — | — | 93.2 | 98.4 | 99.4 | 0.307 | 0.12 | — | — | — | — | — | |
| Yin et al.Venue=ICCV'19, additional training data=false, upper bound=80 meters2022.10 | 0.072 | — | 3.258 | — | — | — | 93.8 | 99 | 99.8 | — | 0.117 | — | — | — | — | — | |
| DORNEncoder=ResNet-101 (R101)2023.04 | 0.072 | — | — | — | — | — | 93.2 | 98.4 | — | 0.307 | 0.12 | — | 2.727 | — | — | — | |
| Res-KDTeacher model=DepthFormer, Loss function(s)=SI2024.02 | 0.0724 | — | 2.6717 | — | — | — | 94.11 | 99.21 | 99.84 | 0.2648 | 0.1078 | — | — | — | — | — | |
| Res-KDTeacher model=AdaBins, Loss function(s)=SI2024.02 | 0.0739 | — | 2.7371 | — | — | — | 93.82 | 99.16 | 99.8 | 0.2747 | 0.1112 | — | — | — | — | — | |
| Res-KDTeacher model=DepthFormer, Loss function(s)=SSIM, MSE2024.02 | 0.077 | — | 2.6391 | — | — | — | 93.63 | 99.12 | 99.79 | 0.272 | 0.1133 | — | — | — | — | — | |
| Res-KDTeacher model=BTS, Loss function(s)=SI2024.02 | 0.0782 | — | 2.8106 | — | — | — | 93.46 | 99.03 | 99.77 | 0.2931 | 0.1157 | — | — | — | — | — | |
| Res-KDTeacher model=AdaBins, Loss function(s)=MSE2024.02 | 0.0786 | — | 2.6964 | — | — | — | 93.19 | 99.11 | 99.81 | 0.2793 | 0.1155 | — | — | — | — | — | |
| Res-KDTeacher model=DepthFormer, Loss function(s)=MSE2024.02 | 0.0805 | — | 2.6029 | — | — | — | 93.61 | 99.15 | 99.83 | 0.2692 | 0.1134 | — | — | — | — | — | |
| Res-KDTeacher model=AdaBins, Loss function(s)=SSIM, MSE2024.02 | 0.0808 | — | 2.6943 | — | — | — | 93.28 | 99.06 | 99.83 | 0.2807 | 0.1158 | — | — | — | — | — | |
| Res-KDTeacher model=BTS, Loss function(s)=MSE2024.02 | 0.082 | — | 2.744 | — | — | — | 92.63 | 98.95 | 99.77 | 0.2977 | 0.1203 | — | — | — | — | — | |
| MD2 Boot+SelfEnsemble Source=Boot+Self2022.03 | 0.088 | 0.083 | 3.795 | 3.574 | 91.8 | 92.9 | — | — | — | — | — | — | — | — | — | — | |
| Res-KDTeacher model=BTS, Loss function(s)=SSIM, MSE2024.02 | 0.0914 | — | 2.7983 | — | — | — | 92.22 | 98.88 | 99.81 | 0.313 | 0.1241 | — | — | — | — | — | |
| MD2 Boot+LogEnsemble Source=Boot+Log2022.03 | 0.092 | 0.084 | 3.85 | 3.6 | 91.1 | 92.3 | — | — | — | — | — | — | — | — | — | — | |
| Gan et al.Depth range=0m to 80m2020.11 | 0.098 | — | 3.933 | — | — | — | 89 | 96.4 | 98.5 | 0.666 | 0.173 | — | — | — | — | — | |
| Gan et al.Venue=ECCV'18, additional training data=false, upper bound=80 meters2022.10 | 0.098 | — | 3.933 | — | — | — | 89 | 98.4 | 98.5 | 0.666 | 0.173 | — | — | — | — | — | |
| DiagonalMode=Baseline2022.03 | 0.101 | — | 4 | — | 89.6 | — | — | — | — | — | — | — | — | — | — | — | |
| LiteMonoIndependent Motion=false, Semantics=false, Number of frames=12024.09 | 0.101 | — | 4.454 | — | — | — | 89.7 | 96.5 | 98.3 | 0.729 | 0.178 | — | — | — | — | — | |
| SUPN Boot+SelfEnsemble Source=Boot+Self2022.03 | 0.103 | 0.096 | 4.091 | 3.8 | 89.4 | 90.6 | — | — | — | — | — | — | — | — | — | — | |
| SUPN Boot+LogEnsemble Source=Boot+Log2022.03 | 0.104 | 0.095 | 4.071 | 3.577 | 89.2 | 90.9 | — | — | — | — | — | — | — | — | — | — | |
| RM-DepthIndependent Motion=true, Semantics=false, Number of frames=12024.09 | 0.107 | — | 4.476 | — | — | — | 88.3 | 96.4 | 98.4 | 0.687 | 0.181 | — | — | — | — | — | |
| Ours (wo 3D scene flow)Independent Motion=false, Semantics=false, Number of frames=12024.09 | 0.109 | — | 4.654 | — | — | — | 88.4 | 96.3 | 98.3 | 0.818 | 0.184 | — | — | — | — | — | |
| Dynamo-DepthIndependent Motion=true, Semantics=false, Number of frames=12024.09 | 0.112 | — | 4.505 | — | — | — | 87.3 | 95.9 | 98.4 | 0.758 | 0.183 | — | — | — | — | — | |
| Kuznietsov et al.Depth range=0m to 80m2020.11 | 0.113 | — | 4.621 | — | — | — | 86.2 | 96 | 98.6 | 0.741 | 0.189 | — | — | — | — | — | |
| Kuznietsov et al.Venue=CVPR'17, additional training data=false, upper bound=80 meters2022.10 | 0.113 | — | 4.621 | — | — | — | 86.2 | 96.4 | 98.6 | 0.741 | 0.189 | — | — | — | — | — | |
| Godard et al.Depth range=0m to 80m2020.11 | 0.114 | — | 4.935 | — | — | — | 86.1 | 94.9 | 97.6 | 0.898 | 0.206 | — | — | — | — | — | |
| Godard et al.Venue=CVPR'17, additional training data=false, upper bound=80 meters2022.10 | 0.114 | — | 4.935 | — | — | — | 86.1 | 96 | 97.6 | 0.898 | 0.206 | — | — | — | — | — | |
| Monodepth2Independent Motion=false, Semantics=false, Number of frames=12024.09 | 0.115 | — | 4.863 | — | — | — | 87.7 | 95.9 | 98.1 | 0.903 | 0.193 | — | — | — | — | — | |
| Xu et al.cap=0-80m, additional training data=false2022.03 | 0.122 | — | 4.677 | — | — | — | 81.8 | 95.4 | 98.5 | 0.897 | — | — | — | — | — | — | |
| Struct2DepthIndependent Motion=true, Semantics=true, Number of frames=12024.09 | 0.141 | — | 5.29 | — | — | — | 81.6 | 94.5 | 97.9 | 1.026 | 0.215 | — | — | — | — | — | |
| Eigen et al.cap=0-80m, additional training data=false2022.03 | 0.19 | — | 7.156 | — | — | — | 69.2 | 89.9 | 96.7 | 1.515 | 0.27 | — | — | — | — | — | |
| Eigen et al.2023.04 | 0.19 | — | — | — | — | — | 69.2 | 89.9 | — | 1.515 | 0.27 | — | 7.156 | — | — | — | |
| Liu et al.Depth range=0m to 80m2020.11 | 0.201 | — | 6.471 | — | — | — | 68 | 89.8 | 96.7 | 1.584 | 0.273 | — | — | — | — | — | |
| Eigen et al.Depth range=0m to 80m2020.11 | 0.203 | — | 6.307 | — | — | — | 70.2 | 89.8 | 96.7 | 1.548 | 0.282 | — | — | — | — | — | |
| Eigen et al.Venue=NIPS'14, additional training data=false, upper bound=80 meters2022.10 | 0.203 | — | 6.307 | — | — | — | 70.2 | 89.8 | 96.7 | 1.548 | 0.282 | — | — | — | — | — | |
| Liu et al.cap=0-80m, additional training data=false2022.03 | 0.217 | — | 7.046 | — | — | — | 65.6 | 88.1 | 95.8 | — | — | — | — | — | — | — | |
| Saxena et al.Depth range=0m to 80m2020.11 | 0.28 | — | 8.734 | — | — | — | 60.1 | 82 | 92.6 | 3.012 | 0.361 | — | — | — | — | — | |
| UniDepthBackbone=ViT, Evaluation Setting=Zero-shot, Conditioning (Predicted Intrinsics)=false2024.03 | 4.21 | — | 1.75 | — | — | — | 98.6 | 99.8 | 99.9 | 0.338 | 0.064 | 85 | — | 5.84 | — | — | |
| UniDepthBackbone=ViT, Evaluation Setting=Zero-shot, Conditioning (Predicted Intrinsics)=true2024.03 | 4.21 | — | 1.75 | — | — | — | 98.6 | 99.8 | 99.9 | 0.381 | 0.064 | 82.7 | — | 5.84 | — | — | |
| UniDepthEvaluation Protocol=Zero-shot, Backbone=ViT [12]2024.03 | 4.21 | — | 1.75 | — | — | — | 98.6 | — | — | — | 0.064 | 93.4 | — | 5.84 | 85 | 0.338 | |
| UniDepthBackbone=ConvNext, Evaluation Setting=Zero-shot, Conditioning (Predicted Intrinsics)=false2024.03 | 4.69 | — | 2 | — | — | — | 97.8 | 99.7 | 99.9 | 0.371 | 0.073 | 83.9 | — | 6.72 | — | — | |
| UniDepthEvaluation Protocol=Zero-shot, Backbone=ConvNext [33]2024.03 | 4.69 | — | 2 | — | — | — | 97.9 | — | — | — | 0.072 | 91.1 | — | 6.71 | 83.9 | 0.371 | |
| UniDepthBackbone=ConvNext, Evaluation Setting=Zero-shot, Conditioning (Predicted Intrinsics)=true2024.03 | 4.77 | — | 2 | — | — | — | 97.8 | 99.7 | 99.9 | 0.427 | 0.073 | 80.8 | — | 6.72 | — | — | |
| iDiscEvaluation Setting=Trained on KITTI2024.03 | 5.09 | — | 2.07 | — | — | — | 97.5 | 99.7 | 99.9 | 0.38 | 0.077 | 83.1 | — | 7.11 | — | — | |
| iDiscEvaluation Protocol=Trained on KITTI2024.03 | 5.09 | — | 2.07 | — | — | — | 97.5 | — | — | — | 0.077 | 89.2 | — | 7.11 | 83.1 | 0.38 | |
| NeWCRFEvaluation Setting=Trained on KITTI2024.03 | 5.2 | — | 2.07 | — | — | — | 97.5 | 99.7 | 99.9 | 0.388 | 0.078 | 82.7 | — | 7 | — | — | |
| NeWCRFEvaluation Protocol=Trained on KITTI2024.03 | 5.2 | — | 2.07 | — | — | — | 97.5 | — | — | — | 0.078 | 88.9 | — | 7 | 82.7 | 0.388 | |
| Metric3DEvaluation Setting=Zero-shot2024.03 | 5.33 | — | 2.26 | — | — | — | 97.5 | 99.5 | 99.8 | 0.392 | 0.081 | 82.9 | — | 7.28 | — | — | |
| Metric3DEvaluation Protocol=Zero-shot2024.03 | 5.33 | — | 2.26 | — | — | — | 97.5 | — | — | — | 0.081 | 88.9 | — | 7.28 | 82.9 | 0.392 | |
| BTSEvaluation Setting=Trained on KITTI2024.03 | 5.63 | — | 2.43 | — | — | — | 96.2 | 99.4 | 99.8 | 0.42 | 0.089 | 82 | — | 8.18 | — | — | |
| BTSEvaluation Protocol=Trained on KITTI2024.03 | 5.63 | — | 2.43 | — | — | — | 96.2 | — | — | — | 0.089 | 86.9 | — | 8.18 | 82 | 0.42 | |
| ZoeDepthEvaluation Setting=Trained on KITTI2024.03 | 5.76 | — | 2.39 | — | — | — | 96.5 | 99.1 | 99.4 | 0.431 | 0.089 | 82.1 | — | 7.47 | — | — | |
| ZoeDepthEvaluation Protocol=Trained on KITTI, Pre-training=MiDaS [42]2024.03 | 5.76 | — | 2.39 | — | — | — | 96.5 | — | — | — | 0.089 | 87.4 | — | 7.47 | 82.1 | 0.431 | |
| AdaBinsEvaluation Setting=Trained on KITTI2024.03 | 5.85 | — | 2.38 | — | — | — | 96.3 | 99.5 | 99.8 | 0.429 | 0.089 | 81.5 | — | 8.1 | — | — | |
| AdaBinsEvaluation Protocol=Trained on KITTI2024.03 | 5.85 | — | 2.38 | — | — | — | 96.3 | — | — | — | 0.089 | 86.2 | — | 8.1 | 81.5 | 0.429 | |
| ZeroDepthEvaluation Protocol=Zero-shot2024.03 | 10.2 | — | 4.38 | — | — | — | 89.2 | — | — | — | 0.196 | — | — | — | — | — |