Monocular Depth Estimation on NuScenes
88.1δ1Student-DepthMap
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Student-DepthMap2026.01 | 88.1 | — | — | — | — | |
| DepthLM-7BCamera Intrinsics (Inference)=Yes, Camera Intrinsics (Training)=Yes, Zero-shot transfer=No2026.04 | 86.5 | — | — | — | — | |
| UniDepthGT aligned=false2024.11 | 84 | 0.14 | — | — | — | |
| Metric3Dv2GT aligned=false2024.11 | 84 | 0.2 | — | — | — | |
| UniK3DCamera Intrinsics (Inference)=No, Camera Intrinsics (Training)=Yes, Zero-shot transfer=Yes2026.04 | 84 | 0.189 | — | — | — | |
| UniDepth2026.01 | 83.6 | — | — | — | — | |
| Metric3D-v22026.01 | 82.6 | — | — | — | — | |
| MoGe-2Camera Intrinsics (Inference)=No, Camera Intrinsics (Training)=Yes, Zero-shot transfer=Yes2026.04 | 82 | 0.195 | — | — | — | |
| SharpDepthGT aligned=false2024.11 | 78 | 0.18 | — | — | — | |
| MarigoldGT aligned=true2024.11 | 66 | 0.27 | — | — | — | |
| Metric3D2026.01 | 64.4 | — | — | — | — | |
| Vision BananaCamera Intrinsics (Inference)=No, Camera Intrinsics (Training)=No, Zero-shot transfer=Yes2026.04 | 64.3 | 0.219 | — | — | — | |
| LotusGT aligned=false2024.11 | 51 | 0.36 | — | — | — | |
| DepthPro2026.01 | 49.1 | — | — | — | — | |
| Depth ProCamera Intrinsics (Inference)=No, Camera Intrinsics (Training)=Yes, Zero-shot transfer=Yes2026.04 | 49.1 | 0.287 | — | — | — | |
| UniDepth-aligned LotusGT aligned=false2024.11 | 41 | 0.43 | — | — | — | |
| DepthAnything2026.01 | 35.4 | — | — | — | — | |
| PatchRefinerGT aligned=false2024.11 | 32 | 0.58 | — | — | — | |
| ZoeDepth2026.01 | 28.1 | — | — | — | — | |
| ZoeDepthGT aligned=false2024.11 | 22 | 0.59 | — | — | — | |
| PatchFusion2026.01 | 20.4 | — | — | — | — | |
| DAV22026.01 | 17.7 | — | — | — | — | |
| Depth Proevaluation_mode=Zero-shot2026.01 | — | 0.287 | 0.164 | 73.84 | 84.25 | |
| DepthAnythingevaluation_mode=Zero-shot2026.01 | — | 0.453 | 0.151 | 73.88 | 90.3 | |
| DepthAnything v2evaluation_mode=Zero-shot2026.01 | — | 0.614 | 0.326 | 31.84 | 47.27 | |
| Metric3Devaluation_mode=Zero-shot2026.01 | — | 0.422 | 0.132 | 77.22 | 83.61 | |
| Metric3D v2evaluation_mode=Zero-shot2026.01 | — | 0.197 | 0.08 | 93.25 | 95.74 | |
| PatchFusionevaluation_mode=Zero-shot2026.01 | — | 0.392 | 0.226 | 48.74 | 76.04 | |
| Student-DepthMapevaluation_mode=Zero-shot2026.01 | — | 0.152 | 0.063 | 96.56 | 98.26 | |
| UniDepthevaluation_mode=Zero-shot2026.01 | — | 0.138 | 0.06 | 93.01 | 96.42 | |
| ZeroDepthevaluation_mode=Zero-shot2026.01 | — | 0.237 | 0.121 | 82.6 | 89.91 | |
| ZoeDepthevaluation_mode=Zero-shot2026.01 | — | 0.498 | 0.182 | 64.95 | 82.7 |