ResearchBenchmarksSparse Depth Estimation on Waymo Open DatasetSparse Depth Estimation on Waymo Open DatasetFollow3.45RMSE (Dynamic Only)StreetForward2.95166.31589.6813.0442Mar 20, 2026Evaluation resultsMethodMethodLinksRMSE (Dynamic Only)RMSE (Static Only)RMSE (Full Image)StreetForward2026.033.453.093.14VGGT2026.036.363.844.07DGGT2026.036.373.474.08STORM2026.037.5—5.48Pi32026.037.935.465.61AnySplat2026.0310.459.8310.31DA32026.0312.211.2511.66PVG2026.0315.91—13.01