Video Depth Estimation on KITTI (Abs Rel, delta < 1.25)
0.036Abs Relpi^3
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| pi^3Params=959M, Inference Speed Complexity=O(N^2), Alignment Protocol=joint scale-and-shift2026.03 | 0.036 | 98.6 | |
| π³Align=scale & shift2026.02 | 0.037 | 98.5 | |
| TrajVGAlign=scale & shift2026.02 | 0.037 | 98.3 | |
| π³Align=scale2026.02 | 0.038 | 98.6 | |
| pi^3Params=959M, FPS=57.42025.07 | 0.038 | 98.6 | |
| π³FPS=110.22026.06 | 0.039 | 98.5 | |
| TrajVGAlign=scale2026.02 | 0.04 | 98.4 | |
| DA3 + Ours (GMM)Type=FA2026.06 | 0.044 | 97.7 | |
| VGGT + Ours (GMM)Type=FA2026.06 | 0.047 | 98 | |
| DA3 + Ours (LMM)Type=FA2026.06 | 0.049 | 97.9 | |
| ZipMapParams=1.40B, Inference Speed Complexity=O(N), Alignment Protocol=joint scale-and-shift2026.03 | 0.05 | 97.2 | |
| VGGTAlign=scale & shift2026.02 | 0.052 | 96.8 | |
| OmniVGGTFPS=84.182026.06 | 0.053 | 96.4 | |
| AetherAlign=scale & shift2026.02 | 0.054 | 97.7 | |
| AetherAlign=scale2026.02 | 0.056 | 97.8 | |
| AetherParams=5.57B, FPS=6.142025.07 | 0.056 | 97.8 | |
| AETHERAlignment=Per-sequence scale, Online=false, Venue=ICCV’252026.03 | 0.056 | 97.8 | |
| HorizonStream2026.05 | 0.057 | 94.8 | |
| VGGTFPS=84.462026.06 | 0.058 | 96.1 | |
| VGGTParams=1.26B, Inference Speed Complexity=O(N^2), Alignment Protocol=joint scale-and-shift2026.03 | 0.059 | 96.1 | |
| VGGT2026.03 | 0.061 | 97 | |
| VGGTType=Dense-view2025.07 | 0.061 | 97 | |
| VGGT2026.05 | 0.061 | 97 | |
| DA3Type=FA2026.06 | 0.061 | 97.5 | |
| VGGTAlign=scale2026.02 | 0.062 | 96.9 | |
| VGGTParams=1.26B, FPS=43.22025.07 | 0.062 | 96.9 | |
| MoRetype=FA2026.03 | 0.066 | 96.7 | |
| CogniMap3DCategory=Vision Foundation Model, Optim.=false, FF=true, Global Alignment (GA)=false, FPS=14.322026.01 | 0.069 | 96.2 | |
| PPVDType=Diff2026.06 | 0.069 | 97.6 | |
| VGGTAlignment=Per-sequence scale, Online=false, Venue=CVPR’252026.03 | 0.07 | 96.5 | |
| VGGTCategory=Vision Foundation Model, Optim.=false, FF=true, Global Alignment (GA)=false, FPS=21.52026.01 | 0.072 | 96.4 | |
| MoRetype=Streaming2026.03 | 0.072 | 96.6 | |
| VGG-TAlignment=Per-sequence scale, Type=FA2025.12 | 0.073 | 96.5 | |
| VGGTtype=FA2026.03 | 0.073 | 96.1 | |
| VGGTType=FA2026.06 | 0.073 | 96.5 | |
| MoE3DType=FA2026.06 | 0.076 | 96 | |
| Stream3Rtype=Streaming2026.03 | 0.079 | 94.9 | |
| Complet4R2026.03 | 0.079 | 94.9 | |
| STream3R2026.05 | 0.08 | 94.7 | |
| LiAuto-GeoXFPS=223.82026.06 | 0.084 | 93.1 | |
| LoGeR2026.05 | 0.09 | 93 | |
| Point3RParam.=600M2026.03 | 0.093 | 93.5 | |
| MonST3RAlign=scale & shift2026.02 | 0.098 | 88.3 | |
| Lingbot-map2026.05 | 0.098 | 90.7 | |
| ZipMapStreaming=true, Alignment=scale-only2026.03 | 0.1 | 90.3 | |
| Easi3RAlignment=Per-sequence scale, Online=false, Venue=ICCV’252026.03 | 0.102 | 91.2 | |
| CUT3RCategory=Vision Foundation Model, Optim.=false, FF=true, Global Alignment (GA)=false, FPS=16.582026.01 | 0.106 | 88.7 | |
| MonST3RAlign=scale2026.02 | 0.107 | 88.4 | |
| MonST3RParams=571M, FPS=1.272025.07 | 0.107 | 88.4 | |
| SSRAlignment=Per-sequence scale, Online=true, Venue=Ours2026.03 | 0.109 | 91.1 | |
| DVGTFPS=77.802026.06 | 0.109 | 89.4 | |
| DepthCrafterCategory=Depth Estimation model, Optim.=false, FF=true, Global Alignment (GA)=false, FPS=0.972026.01 | 0.11 | 88.1 | |
| TTT3RAlignment=Metric scale, Online=true, Venue=ICLR’262026.03 | 0.11 | 89.1 | |
| CUT3RAlign=scale & shift2026.02 | 0.111 | 88.3 | |
| TTT3RAlignment=Per-sequence scale, Online=true, Venue=ICLR’262026.03 | 0.113 | 90.4 | |
| SSRAlignment=Metric scale, Online=true, Venue=Ours2026.03 | 0.113 | 89 | |
| MASt3RAlign=scale2026.02 | 0.115 | 84.8 | |
| MASt3RAlign=scale & shift2026.02 | 0.115 | 84.9 | |
| MASt3RParams=689M, FPS=1.012025.07 | 0.115 | 84.8 | |
| STREAM3RαAlignment=Per-sequence scale, Type=Stream2025.12 | 0.116 | 89.6 | |
| OursAlignment=Per-sequence scale, Type=Stream2025.12 | 0.116 | 88.3 | |
| CUT3RAlignment=Per-sequence scale, Type=Stream2025.12 | 0.118 | 88.1 | |
| Cut3RParam.=600M2026.03 | 0.118 | 88.1 | |
| CUT3RAlignment=Per-sequence scale, Online=true, Venue=CVPR’252026.03 | 0.118 | 88.1 | |
| CUT3R2026.03 | 0.118 | 88.1 | |
| CUT3RType=Streaming2025.07 | 0.118 | 88.1 | |
| CUT3R2026.05 | 0.118 | 88.1 | |
| TTT3RParams=793M, Inference Speed Complexity=O(N), Alignment Protocol=joint scale-and-shift2026.03 | 0.12 | 87 | |
| LongStream2026.05 | 0.12 | 87 | |
| CUT3RAlign=scale2026.02 | 0.122 | 87.6 | |
| CUT3RAlignment=Metric scale, Type=Stream2025.12 | 0.122 | 85.5 | |
| CUT3RParams=793M, FPS=6.982025.07 | 0.122 | 87.6 | |
| CUT3RAlignment=Metric scale, Online=true, Venue=CVPR’252026.03 | 0.122 | 85.5 | |
| CUT3RParams=793M, Inference Speed Complexity=O(N), Alignment Protocol=joint scale-and-shift2026.03 | 0.124 | 85 | |
| CUT3Rtype=Streaming2026.03 | 0.124 | 87.3 | |
| OursAlignment=Metric scale, Type=Stream2025.12 | 0.125 | 85.8 | |
| OVGGTSequence Length=1002026.03 | 0.128 | 83.9 | |
| OVGGTSequence Length=3002026.03 | 0.133 | 84.4 | |
| DUSt3RAlign=scale & shift2026.02 | 0.135 | 81.8 | |
| DUSt3R-GACategory=Vision Foundation Model, Optim.=true, FF=false, Global Alignment (GA)=true, FPS=0.762026.01 | 0.135 | 81.8 | |
| OVGGTSequence Length=5002026.03 | 0.135 | 83.9 | |
| Point3RAlignment=Per-sequence scale, Type=Stream2025.12 | 0.136 | 84.2 | |
| OmniStreamParam.=400M2026.03 | 0.136 | 81.8 | |
| Point3RAlignment=Per-sequence scale, Online=true, Venue=NeurIPS’252026.03 | 0.136 | 84.2 | |
| Point3RType=Streaming2025.07 | 0.136 | 84.2 | |
| Point3R2026.05 | 0.136 | 84.2 | |
| MASt3R-GACategory=Vision Foundation Model, Optim.=true, FF=false, Global Alignment (GA)=true, FPS=0.312026.01 | 0.137 | 83.6 | |
| Fast3RAlign=scale2026.02 | 0.138 | 83.4 | |
| Fast3RParams=648M, FPS=65.82025.07 | 0.138 | 83.4 | |
| Fast3RAlign=scale & shift2026.02 | 0.139 | 80.8 | |
| Fast3RParams=648M, Inference Speed Complexity=O(N^2), Alignment Protocol=joint scale-and-shift2026.03 | 0.139 | 80.8 | |
| Depth-Anything-V2Category=Depth Estimation model, Optim.=false, FF=true, Global Alignment (GA)=false, FPS=3.132026.01 | 0.14 | 80.4 | |
| Fast3RAlignment=Per-sequence scale, Type=FA2025.12 | 0.14 | 83.4 | |
| DUSt3RAlign=scale2026.02 | 0.143 | 81.4 | |
| DUSt3RParams=571M, FPS=1.252025.07 | 0.143 | 81.4 | |
| DUSt3R-GAAlignment=Per-sequence scale, Type=Optim2025.12 | 0.144 | 81.3 | |
| DUSt3RAlignment=Per-sequence scale, Online=false, Venue=CVPR’242026.03 | 0.144 | 81.3 | |
| DUSt3R-GAType=Pair-wise2025.07 | 0.144 | 81.3 | |
| DUSt3R-GA2026.05 | 0.144 | 81.3 | |
| TTT3RStreaming=true, Alignment=scale-only2026.03 | 0.149 | 81.2 |