Monocular Depth Estimation on KITTI (test)
0.037Abs Rel ErrorDeepV2D
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| DeepV2DTest size=300 × 10882021.05 | 0.037 | 97.7 | 99.3 | 99.7 | — | 0.174 | 2.005 | 0.074 | — | — | |
| AFNetType=Multi View2024.03 | 0.039 | — | — | — | — | 0.121 | 1.743 | — | — | — | |
| DAR-LargeEncoder=ViT-L, Model Size=2.0B2024.11 | 0.044 | 98.6 | 99.9 | 100 | — | 0.11 | 1.799 | 0.067 | — | — | |
| GRINzero_shot=true, require_camera_intrinsics=true2024.09 | 0.046 | 98.3 | — | — | — | — | 2.251 | — | — | — | |
| Depth AnythingEncoder=ViT-L, Model Size=343M, data-driven=true2024.11 | 0.046 | 98.2 | 99.8 | 100 | — | — | 1.896 | 0.069 | — | — | |
| DAR-smallEncoder=ViT-L, Model Size=440M2024.11 | 0.046 | 98.4 | 99.9 | 100 | — | 0.115 | 1.839 | 0.069 | — | — | |
| DAR-BaseEncoder=ViT-L, Model Size=1.0B2024.11 | 0.046 | 98.5 | 99.9 | 100 | — | 0.114 | 1.823 | 0.069 | — | — | |
| UniDepthzero_shot=true, model_variant=UniDepth-C, require_camera_intrinsics=true2024.09 | 0.047 | 98 | — | — | — | — | 2 | — | — | — | |
| EcoDepthEncoder=ViT-L, Model Size=954M2024.11 | 0.048 | 97.9 | 99.8 | 100 | — | 0.139 | 2.039 | 0.074 | — | — | |
| WorDepthEncoder=Swin-Large, Model Size=350M2024.11 | 0.049 | 97.9 | 99.8 | 99.9 | — | — | 2.039 | 0.074 | — | — | |
| VA-DepthNetEncoder=Swin-Large, Model Size=262M2024.11 | 0.05 | 97.7 | 99.7 | 99.9 | — | 0.148 | 2.093 | 0.076 | — | — | |
| IEBinsEncoder=Swin-Large, Model Size=273M2024.11 | 0.05 | 97.8 | 99.8 | 99.9 | — | 0.142 | 2.011 | — | — | — | |
| iDiscEncoder=Swin-Large, Model Size=263M2024.11 | 0.05 | 97.7 | 99.7 | 99.9 | — | 0.145 | 2.067 | 0.077 | — | — | |
| PixelFormerEncoder=Swin-Large, Model Size=365M2024.11 | 0.051 | 97.6 | 99.7 | 99.9 | — | 0.149 | 2.081 | 0.077 | — | — | |
| DCDepthEncoder=Swin-Large, Model Size=259M2024.11 | 0.051 | 97.7 | 99.7 | 99.9 | — | 0.145 | 2.044 | 0.076 | — | — | |
| LAGRNeteval_mode=Zero-shot evaluation2026.04 | 0.051 | 98.2 | — | — | — | — | — | — | — | — | |
| NeWCRFszero_shot=false, trained_on_target_dataset=true, require_camera_intrinsics=true2024.09 | 0.052 | 97.4 | — | — | — | — | 2.129 | — | — | — | |
| NeWCRFsEncoder=Swin-Large, Model Size=270M2024.11 | 0.052 | 97.4 | 99.7 | 99.9 | — | 0.155 | 2.129 | 0.079 | — | — | |
| BinsFormerEncoder=Swin-Large, Model Size=380M2024.11 | 0.052 | 97.4 | 99.7 | 99.9 | — | 0.151 | 2.098 | 0.079 | — | — | |
| Metric3DType=Single View2024.03 | 0.053 | — | — | — | — | 0.174 | 2.243 | — | — | — | |
| MaGNetType=Multi View2024.03 | 0.054 | — | — | — | — | 0.162 | 2.158 | — | — | — | |
| ZoeDepthEncoder=ViT-L, Model Size=343M, data-driven=true2024.11 | 0.054 | 97.7 | 99.6 | 99.9 | — | 0.189 | 2.44 | 0.083 | — | — | |
| IterMVSType=Multi View2024.03 | 0.057 | — | — | — | — | 0.178 | 2.234 | — | — | — | |
| AdaBinsType=Single View2024.03 | 0.058 | — | — | — | — | 0.19 | 2.36 | — | — | — | |
| MVS2DType=Multi View2024.03 | 0.058 | — | — | — | — | 0.176 | 2.277 | — | — | — | |
| AdaBinszero_shot=false, trained_on_target_dataset=true, require_camera_intrinsics=true2024.09 | 0.058 | 96.4 | — | — | — | — | 2.36 | — | — | — | |
| Metric3Dzero_shot=true, require_camera_intrinsics=true2024.09 | 0.058 | 96.4 | — | — | — | — | 2.77 | — | — | — | |
| BTSType=Single View2024.03 | 0.059 | — | — | — | — | 0.245 | 2.756 | — | — | — | |
| BTSEncoder=DenseNet-161, Model Size=20M2024.11 | 0.059 | 95.6 | 99.3 | 99.8 | — | 0.241 | 2.756 | 0.096 | — | — | |
| DPTEncoder=ViT-L, Model Size=343M2024.11 | 0.06 | 95.9 | 99.5 | 99.6 | — | — | 2.573 | 0.092 | — | — | |
| SC-GANType=Multi View2024.03 | 0.063 | — | — | — | — | 0.178 | 2.129 | — | — | — | |
| ZeroDepthzero_shot=true, require_camera_intrinsics=true2024.09 | 0.064 | 95.8 | — | — | — | — | 2.987 | — | — | — | |
| CasMVSType=Multi View2024.03 | 0.066 | — | — | — | — | 0.228 | 2.567 | — | — | — | |
| AdaBinsEncoder=E-B5+mini-ViT, Model Size=40M2024.11 | 0.067 | 94.9 | 99.2 | 99.8 | — | 0.19 | 2.96 | 0.088 | — | — | |
| DistillAnyDeptheval_mode=Zero-shot evaluation2026.04 | 0.07 | 94.9 | — | — | — | — | — | — | — | — | |
| P3DepthEncoder=ResNet-101, Model Size=45M2024.11 | 0.071 | 95.3 | 99.3 | 99.8 | — | 0.27 | 2.842 | 0.103 | — | — | |
| DORNEncoder=ResNet-101, Model Size=45M2024.11 | 0.072 | 93.2 | 98.4 | 99.4 | — | 0.307 | 2.727 | 0.12 | — | — | |
| DepthAnything v2eval_mode=Zero-shot evaluation2026.04 | 0.074 | 94.6 | — | — | — | — | — | — | — | — | |
| DepthAnything v1eval_mode=Zero-shot evaluation2026.04 | 0.076 | 94.7 | — | — | — | — | — | — | — | — | |
| WangTest size=128 × 4162021.05 | 0.077 | 94.1 | 99 | 99.8 | — | 0.205 | 1.698 | 0.11 | — | — | |
| GenPercepteval_mode=Zero-shot evaluation2026.04 | 0.08 | 93.4 | — | — | — | — | — | — | — | — | |
| ManyDepthTest size=320 × 10242021.05 | 0.087 | 92 | 96.8 | 98.3 | — | 0.685 | 4.142 | 0.167 | — | — | |
| DORNType=Single View2024.03 | 0.088 | — | — | — | — | 0.806 | 3.138 | — | — | — | |
| Deepv2dType=Multi View2024.03 | 0.091 | — | — | — | — | 0.582 | 3.644 | — | — | — | |
| M4Depth-d6Test size=256 × 7682021.05 | 0.095 | 89.8 | 96.2 | 98.2 | — | 0.7084 | 3.515 | 0.146 | — | — | |
| FeatDepthType=Single View2024.03 | 0.099 | — | — | — | — | 0.697 | 4.427 | — | — | — | |
| Marigoldeval_mode=Zero-shot evaluation2026.04 | 0.099 | 91.6 | — | — | — | — | — | — | — | — | |
| DPTeval_mode=Zero-shot evaluation2026.04 | 0.1 | 90.1 | — | — | — | — | — | — | — | — | |
| ST-CLSTMTest size=375 × 12402021.05 | 0.104 | 83.3 | 96.7 | 98.8 | — | — | 4.139 | 0.131 | — | — | |
| GEDepth-AdaptiveBackbone=DepthFormer2023.09 | 0.104 | — | — | — | — | — | 3.398 | — | — | — | |
| Monodepth2Test size=320 × 10242021.05 | 0.106 | 87.6 | 95.8 | 98 | — | 0.806 | 4.63 | 0.193 | — | — | |
| Monodepth2Type=Single View2024.03 | 0.106 | — | — | — | — | 0.806 | 4.63 | — | — | — | |
| MonodepthTest size=256 × 5122021.05 | 0.114 | 86.1 | 94.9 | 97.6 | — | 0.898 | 4.935 | 0.206 | — | — | |
| HDNeval_mode=Zero-shot evaluation2026.04 | 0.115 | 86.7 | — | — | — | — | — | — | — | — | |
| DepthFormer2023.09 | 0.149 | — | — | — | — | — | 4.132 | — | — | — | |
| Omnidataeval_mode=Zero-shot evaluation2026.04 | 0.149 | 83.5 | — | — | — | — | — | — | — | — | |
| PWCDC-NetTest size=256 × 7682021.05 | 0.152 | 82.8 | 92 | 95.6 | — | 2.015 | 5.883 | 0.251 | — | — | |
| Struct2Depth (M+R)Train=Cityscapes, Range cap=80m, Mode=Motion model + Online refinement2019.06 | 0.1529 | 79.56 | 93.38 | 97.52 | — | 1.1087 | 5.5573 | 0.2272 | — | — | |
| Struct2Depth (R)Train=Cityscapes, Range cap=80m, Mode=Online refinement model2019.06 | 0.1696 | 78.4 | 92.79 | 97.03 | — | 1.7083 | 6.0151 | 0.2412 | — | — | |
| Struct2Depth (M)Train=Cityscapes, Range cap=80m, Mode=Motion model2019.06 | 0.1876 | 71.35 | 90.46 | 96.67 | — | 1.3541 | 6.3166 | 0.2641 | — | — | |
| DiverseDeptheval_mode=Zero-shot evaluation2026.04 | 0.19 | 70.4 | — | — | — | — | — | — | — | — | |
| Eigen et al.Encoder=ResNet-101, Model Size=45M2024.11 | 0.203 | 70.2 | 89.8 | 96.7 | — | 1.517 | 6.307 | 0.282 | — | — | |
| Godard et al.Train=Cityscapes, Range cap=80m, Cropping=Unspecified/Different cropping2019.06 | 0.233 | 70 | 89.2 | 95.3 | — | 3.533 | 7.412 | 0.292 | — | — | |
| MiDaSeval_mode=Zero-shot evaluation2026.04 | 0.236 | 63 | — | — | — | — | — | — | — | — | |
| BetterDepthZero-shot=true2024.07 | 7.5 | 95.2 | — | — | — | — | — | — | — | — | |
| Depth AnythingZero-shot=true2024.07 | 8 | 94.6 | — | — | — | — | — | — | — | — | |
| BinsFormer2022.04 | 8.23 | — | — | — | — | 1.69 | — | — | 10.14 | 10.9 | |
| Depth Anything V2Zero-shot=true2024.07 | 8.3 | 93.9 | — | — | — | — | — | — | — | — | |
| NeW CRFsdataset=online test2022.03 | 8.37 | — | — | — | — | 1.83 | — | — | 10.39 | 11.03 | |
| DepthFormer2022.03 | 8.54 | — | — | — | — | 1.82 | — | — | 10.46 | 11.17 | |
| Fu et al.Supervision=Full, Runtime=0.5 s2019.05 | 8.78 | — | — | — | — | 2.23 | — | — | 11.77 | 12.98 | |
| DORNinference time=0.5s2019.06 | 8.78 | — | — | — | — | 2.23 | — | — | 11.77 | 12.98 | |
| DORNRank=102020.12 | 8.78 | — | — | — | — | 2.23 | — | — | 11.77 | 12.98 | |
| DORN2022.04 | 8.78 | — | — | — | — | 2.23 | — | — | 11.77 | 12.98 | |
| DORNdataset=online test2022.03 | 8.78 | — | — | — | — | 2.23 | — | — | 11.77 | 12.98 | |
| DORN2022.03 | 8.78 | — | — | — | — | 2.23 | — | — | 11.77 | 12.98 | |
| ViP-DeepLabRank=12020.12 | 8.94 | — | — | — | — | 2.19 | — | — | 10.8 | 11.77 | |
| ViP-DeepLab2022.04 | 8.94 | — | — | — | — | 2.19 | — | — | 10.8 | 11.77 | |
| ViP-DeepLab2022.03 | 8.94 | — | — | — | — | 2.19 | — | — | 10.8 | 11.77 | |
| MPSDRank=22020.12 | 8.99 | — | — | — | — | 2.07 | — | — | 11.12 | 11.56 | |
| BTSRank=92020.12 | 9.04 | — | — | — | — | 2.21 | — | — | 11.67 | 12.23 | |
| BTS2022.04 | 9.04 | — | — | — | — | 2.21 | — | — | 11.67 | 12.23 | |
| BTSdataset=online test2022.03 | 9.04 | — | — | — | — | 2.21 | — | — | 11.67 | 12.23 | |
| BTS2022.03 | 9.04 | — | — | — | — | 2.21 | — | — | 11.67 | 12.23 | |
| PWA2022.04 | 9.05 | — | — | — | — | 2.3 | — | — | 11.45 | 12.32 | |
| PWAdataset=online test2022.03 | 9.05 | — | — | — | — | 2.3 | — | — | 11.45 | 12.32 | |
| PWA2022.03 | 9.05 | — | — | — | — | 2.3 | — | — | 11.45 | 12.32 | |
| PackNet-SANdataset=online test2022.03 | 9.12 | — | — | — | — | 2.35 | — | — | 11.54 | 12.38 | |
| BANet2022.04 | 9.34 | — | — | — | — | 2.31 | — | — | 11.55 | 12.17 | |
| BANet2022.03 | 9.34 | — | — | — | — | 2.31 | — | — | 11.55 | 12.17 | |
| BANetRank=82020.12 | 9.38 | — | — | — | — | 2.29 | — | — | 11.61 | 12.23 | |
| BA-Fulldataset=online test2022.03 | 9.38 | — | — | — | — | 2.29 | — | — | 11.61 | 12.23 | |
| MarigoldZero-shot=true2024.07 | 9.9 | 91.6 | — | — | — | — | — | — | — | — | |
| Marigoldzero-shot=true2026.01 | 9.9 | 91.6 | — | — | — | — | — | — | — | — | |
| DPTzero-shot=true2026.01 | 10 | 90.1 | — | — | — | — | — | — | — | — | |
| PAPinference time=0.2s2019.06 | 10.27 | — | — | — | — | 2.72 | — | — | 13.08 | 13.95 | |
| VGG16-Unet*inference time=0.16s2019.06 | 10.6 | — | — | — | — | 2.86 | — | — | 13.41 | 15.06 | |
| BMMNet*inference time=0.1s2019.06 | 10.92 | — | — | — | — | 5.1 | — | — | 14.37 | 15.51 | |
| FUSION-ROB*inference time=2s2019.06 | 11.04 | — | — | — | — | 3.14 | — | — | 13.9 | 15.69 | |
| PAP (cross-stich)inference time=0.1s2019.06 | 11.23 | — | — | — | — | 3.85 | — | — | 14.33 | 15.14 |