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Depth Estimation research benchmarks – Page 14 · SOTA2 Research

Depth Estimation

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

KITTI (train val)

3.28MAE (0-80m)

5

Feb 26, 2026

Visual In-Context Learning (V-ICL) Benchmark

0.138AbsRel

5

Feb 26, 2026

Structured3D sphere rank 7 256x512 (test)

0.142MAE

5

Feb 26, 2026

0.54Abs Rel

5

Feb 26, 2026

DTU (Unfavorable set)

51.3Threshold Accuracy (<1mm)

5

Feb 26, 2026

DTU (Favorable set)

54.8Accuracy (<1mm)

5

Feb 26, 2026

0.138Abs Rel

5

Feb 26, 2026

Captured scenes

0.006L1 Error (2 views)

5

Feb 26, 2026

Scenes11 37 (test)

0.05Abs Rel

5

Feb 26, 2026

RGBD-SLAM 36 (test)

0.095Abs Rel

5

Feb 26, 2026

ZoeDepth pseudo ground truth

0.102L1 Error

5

Feb 26, 2026

Taskonomy Normal input (test)

1.83MAE

5

Feb 26, 2026

Taskonomy Texture input (test)

3.08MAE

5

Feb 26, 2026

0.099Abs Rel Error

5

Feb 26, 2026

NYU 45 Degrees (test)

0.073RMSE

5

Feb 26, 2026

FS -> Defocus -> Depth (P)

0.001MSE

5

Feb 26, 2026

Cityscapes Static region (test)

0.08Absolute Relative Error

4

Jul 2, 2026

Sintel, ScanNet, Bonn, KITTI

1.25Average Rank

4

Jun 23, 2026

TNT & Mip-NeRF360

0.515Abs Rel

4

Jun 2, 2026

69.3Abs Rel

4

Jun 2, 2026

DL3DV-Benchmark

0.67Absolute Relative Error

4

Jun 2, 2026

Downstream Transfer 100K frames trajectory-level

0.045AbsRel

4

May 19, 2026

Hypersim V1 (test)

32.6AbsRel

4

May 19, 2026

ELiDAR real-world indoor (test)

0.532RMSE

4

May 19, 2026

1.3AbsRel

4

May 15, 2026

Page 14 of 19

Popular datasets

KITTI nuScenes NYU ScanNet Cityscapes

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