Monocular Depth Estimation on ScanNet++ (test)
0.0774RMSE2K Retrofit
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| 2K Retrofitzero-shot=false2026.03 | 0.0774 | — | 1.46 | 98.25 | |
| PromptDAzero-shot=false2026.03 | 0.0829 | — | 1.75 | 97.81 | |
| 2K Retrofitzero-shot=true2026.03 | 0.0853 | — | 1.97 | 98.01 | |
| PromptDAzero-shot=true2026.03 | 0.0966 | — | 2.24 | 97 | |
| MSPFzero-shot=false2026.03 | 0.0975 | — | 2.26 | 96.74 | |
| PatchRefinerzero-shot=true2026.03 | 0.0976 | — | 2.37 | 96.83 | |
| Depth Promptingzero-shot=true2026.03 | 0.0983 | — | 2.42 | 96.57 | |
| DepthAnything v2*zero-shot=false, finetuned=true2026.03 | 0.101 | — | 3.71 | 94.37 | |
| DepthAnything v2zero-shot=true2026.03 | 0.1145 | — | 4.02 | 94.04 | |
| Marigoldzero-shot=true2026.03 | 0.1412 | — | 6.03 | 87.18 | |
| BPNetzero-shot=true2026.03 | 0.1963 | — | 14.19 | 93.57 | |
| UniDepth + Calibration TokensExperiment=+ Calibration Tokens, Model=UniDepth, Train Dataset=Mix 200K, Zero-shot=true2025.08 | 0.244 | 76.6 | — | — | |
| DepthAnyCameraExperiment=Comparisons, Model=DepthAnyCamera, Train Dataset=Indoor 670K, Zero-shot=true2025.08 | 0.275 | 76.1 | — | — | |
| UniDepthExperiment=Baseline, Model=UniDepth, Train Dataset=Mix 16M, Zero-shot=true2025.08 | 0.279 | 72 | — | — | |
| FoVA-DepthExperiment=Comparisons, Model=FoVA-Depth, Train Dataset=Indoor 190K, Zero-shot=true2025.08 | 0.285 | 54.8 | — | — | |
| MiDaS + Calibration TokensExperiment=+ Calibration Tokens, Model=MiDaS, Train Dataset=Mix 200K, Zero-shot=true2025.08 | 0.446 | 56.9 | — | — | |
| MiDaSExperiment=Baseline, Model=MiDaS, Train Dataset=Mix 1.4M, Zero-shot=true2025.08 | 0.506 | 56.3 | — | — | |
| DepthAnything + Calibration TokensExperiment=+ Calibration Tokens, Model=DepthAnything, Train Dataset=Mix 200K, Zero-shot=true2025.08 | 0.607 | 50.6 | — | — | |
| DepthAnythingExperiment=Baseline, Model=DepthAnything, Train Dataset=Mix 63.5M, Zero-shot=true2025.08 | 0.731 | 46.3 | — | — | |
| DepthAnyCameraExperiment=Comparisons, Model=DepthAnyCamera, Train Dataset=Mix 200K, Zero-shot=true2025.08 | 0.761 | 25.5 | — | — |