Video Depth Estimation on Bonn
0.026Relative Error (Rel)Pi3
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Pi3Rank=1.572026.04 | 0.026 | 98.7 | |
| TrajVGAlign=scale2026.02 | 0.036 | 97.9 | |
| TrajVGAlign=scale & shift2026.02 | 0.037 | 98 | |
| CARVERank=1.502026.04 | 0.041 | 95.9 | |
| π³Align=scale & shift2026.02 | 0.043 | 97.5 | |
| pi^3Category=Joint D&P2026.01 | 0.043 | 97.5 | |
| Pi3alignment=per-sequence scale & shift2026.02 | 0.044 | 97.5 | |
| 4RCalignment=per-sequence scale & shift2026.02 | 0.048 | 97.3 | |
| VGGTalignment=per-sequence scale & shift2026.02 | 0.049 | 97.2 | |
| π³Align=scale2026.02 | 0.049 | 97.5 | |
| π³Processing Type=Offline2025.12 | 0.049 | 97.5 | |
| Pi32026.02 | 0.05 | 97.4 | |
| 4RC2026.02 | 0.051 | 97.4 | |
| VGGTAlign=scale & shift2026.02 | 0.052 | 96.9 | |
| VGGTCategory=Vision Foundation Model, Optim.=false, FF=true, Global Alignment (GA)=false, FPS=21.52026.01 | 0.054 | 97.1 | |
| Ours (CoTrackerV3)Category=Joint video depth & pose2025.12 | 0.054 | 97.3 | |
| Pi3MOS-SLAMProcessing Type=Online2025.12 | 0.054 | 98.5 | |
| VGGTRank=3.212026.04 | 0.054 | 95.3 | |
| VGGT2026.02 | 0.055 | 97.1 | |
| VGGTAlign=scale2026.02 | 0.057 | 96.6 | |
| V-DPMCategory=Joint D&P2026.01 | 0.057 | 97.3 | |
| UnidepthCategory=Single-frame depth2025.12 | 0.057 | 97.4 | |
| VGGTProcessing Type=Offline2025.12 | 0.057 | 96.6 | |
| CogniMap3DCategory=Vision Foundation Model, Optim.=false, FF=true, Global Alignment (GA)=false, FPS=14.322026.01 | 0.058 | 97.9 | |
| Align3R (Depth Pro)Category=Joint video depth & pose2025.12 | 0.058 | 97.1 | |
| Ours (DELTA)Category=Joint video depth & pose2025.12 | 0.058 | 97.3 | |
| StreamVGGTProcessing Type=Online2025.12 | 0.059 | 97.2 | |
| Point3RProcessing Type=Online2025.12 | 0.06 | 96 | |
| MonST3RCategory=Joint D&P2026.01 | 0.063 | 96.4 | |
| InfiniteVGGTInput=2002026.01 | 0.063 | 96.4 | |
| MonST3RCategory=Joint video depth & pose2025.12 | 0.063 | 96.4 | |
| DPMCategory=Joint D&P2026.01 | 0.064 | 94.8 | |
| MonST3R-GAalignment=per-sequence scale & shift2026.02 | 0.066 | 96.4 | |
| MonST3R-GACategory=Vision Foundation Model, Optim.=true, FF=false, Global Alignment (GA)=true, FPS=0.352026.01 | 0.066 | 96.4 | |
| MonST3R2026.02 | 0.067 | 96.3 | |
| TTT3RInput=2002026.01 | 0.068 | 95.3 | |
| Depth ProCategory=Single-frame depth2025.12 | 0.068 | 97.4 | |
| Point3RInput=2002026.01 | 0.069 | 95.4 | |
| InfiniteVGGTInput=5002026.01 | 0.069 | 96 | |
| MonST3RAlign=scale & shift2026.02 | 0.07 | 95.8 | |
| InfiniteVGGTInput=4002026.01 | 0.07 | 95.8 | |
| MonST3RAlign=scale2026.02 | 0.072 | 95.7 | |
| CUT3RInput=2002026.01 | 0.072 | 94.7 | |
| InfiniteVGGTInput=3002026.01 | 0.072 | 95.8 | |
| MonST3RProcessing Type=Online2025.12 | 0.072 | 95.7 | |
| CUT3Ralignment=per-sequence scale & shift2026.02 | 0.074 | 94.5 | |
| CUT3RCategory=Vision Foundation Model, Optim.=false, FF=true, Global Alignment (GA)=false, FPS=16.582026.01 | 0.074 | 94.5 | |
| DepthCrafteralignment=per-sequence scale & shift2026.02 | 0.075 | 97.1 | |
| CUT3RAlign=scale & shift2026.02 | 0.075 | 94.3 | |
| DepthCrafterCategory=Video depth2026.01 | 0.075 | 97.1 | |
| DepthCrafterCategory=Depth Estimation model, Optim.=false, FF=true, Global Alignment (GA)=false, FPS=0.972026.01 | 0.075 | 97.1 | |
| DepthCrafterCategory=Video depth2025.12 | 0.075 | 97.1 | |
| TTT3RInput=5002026.01 | 0.076 | 95.3 | |
| CUT3R2026.02 | 0.078 | 93.7 | |
| CUT3RAlign=scale2026.02 | 0.078 | 93.7 | |
| TTT3RInput=4002026.01 | 0.078 | 95.1 | |
| CUT3RProcessing Type=Online2025.12 | 0.078 | 93.7 | |
| TTT3RInput=3002026.01 | 0.079 | 94.9 | |
| Point3RInput=3002026.01 | 0.081 | 94.6 | |
| Point3RInput=4002026.01 | 0.081 | 94.5 | |
| Point3RInput=5002026.01 | 0.081 | 94.6 | |
| CUT3RInput=5002026.01 | 0.084 | 93.9 | |
| ZoeDepthCategory=Single-frame depth2025.12 | 0.087 | 94.8 | |
| CUT3RInput=3002026.01 | 0.089 | 93.8 | |
| CUT3RInput=4002026.01 | 0.09 | 93.4 | |
| Marigoldalignment=per-sequence scale & shift2026.02 | 0.091 | 93.1 | |
| MarigoldCategory=1-frame2026.01 | 0.091 | 93.1 | |
| ChronoDepthalignment=per-sequence scale & shift2026.02 | 0.1 | 91.1 | |
| ChronoDepthCategory=Video depth2026.01 | 0.1 | 91.1 | |
| ChronoDepthCategory=Depth Estimation model, Optim.=false, FF=true, Global Alignment (GA)=false, FPS=1.892026.01 | 0.1 | 91.1 | |
| ChronoDepthCategory=Video depth2025.12 | 0.1 | 91.1 | |
| Depth-Anything-V2alignment=per-sequence scale & shift2026.02 | 0.106 | 92.1 | |
| DepthAnythingV2Category=1-frame2026.01 | 0.106 | 92.1 | |
| Depth-Anything-V2Category=Depth Estimation model, Optim.=false, FF=true, Global Alignment (GA)=false, FPS=3.132026.01 | 0.106 | 92.1 | |
| Depth Anything V2Category=Single-frame depth2025.12 | 0.106 | 92.1 | |
| FLAREAlign=scale & shift2026.02 | 0.142 | 79.7 | |
| Spann3R2026.02 | 0.144 | 81.3 | |
| DUSt3RCategory=Joint video depth & pose2025.12 | 0.144 | 84.5 | |
| Spann3RProcessing Type=Online2025.12 | 0.144 | 81.3 | |
| DUSt3RAlign=scale2026.02 | 0.151 | 83.9 | |
| DUSt3RProcessing Type=Online2025.12 | 0.151 | 83.9 | |
| FLAREAlign=scale2026.02 | 0.152 | 79 | |
| DUSt3RAlign=scale & shift2026.02 | 0.152 | 83.5 | |
| DUSt3R2026.02 | 0.155 | 83.3 | |
| DUSt3R-GAalignment=per-sequence scale & shift2026.02 | 0.156 | 83.1 | |
| DUSt3R-GACategory=Vision Foundation Model, Optim.=true, FF=false, Global Alignment (GA)=true, FPS=0.762026.01 | 0.156 | 83.1 | |
| Spann3Ralignment=per-sequence scale & shift2026.02 | 0.157 | 82.1 | |
| Spann3RCategory=Vision Foundation Model, Optim.=false, FF=true, Global Alignment (GA)=false, FPS=13.552026.01 | 0.157 | 82.1 | |
| NVDSalignment=per-sequence scale & shift2026.02 | 0.167 | 76.6 | |
| MASt3R-GAalignment=per-sequence scale & shift2026.02 | 0.167 | 78.5 | |
| NVDSCategory=Video depth2026.01 | 0.167 | 76.6 | |
| MASt3R-GACategory=Vision Foundation Model, Optim.=true, FF=false, Global Alignment (GA)=true, FPS=0.312026.01 | 0.167 | 78.5 | |
| CasualSAMalignment=per-sequence scale & shift2026.02 | 0.169 | 73.7 | |
| CasualSAMCategory=Joint D&P2026.01 | 0.169 | 73.7 | |
| MoGe v2 + LoFTRRank=3.792026.04 | 0.171 | 79.7 | |
| MASt3RAlign=scale2026.02 | 0.188 | 76.5 | |
| MASt3RProcessing Type=Online2025.12 | 0.188 | 76.5 | |
| MASt3RAlign=scale & shift2026.02 | 0.189 | 77.1 | |
| Fast3R2026.02 | 0.193 | 77.5 | |
| Fast3RAlign=scale2026.02 | 0.194 | 77.2 |