Depth Estimation on NYU-Depth V2

Metric: RMSE (lower is better)

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#	Model↕	RMSE▲	Extra Data	Paper	Date↕	Code
1	Defocus/DepthNet (Normalized)	0.013	No	Focus on defocus: bridging the synthetic to real...	2020-05-19	Code
2	HybridDepth	0.128	No	HybridDepth: Robust Metric Depth Fusion by Lever...	2024-07-26	Code
3	UniK3D (FT, metric)	0.173	No	UniK3D: Universal Camera Monocular 3D Estimation	2025-03-20	Code
4	UniDepthV2 (FT, metric)	0.18	Yes	UniDepthV2: Universal Monocular Metric Depth Est...	2025-02-27	Code
5	Metric3Dv2(L, FT)	0.183	Yes	Metric3Dv2: A Versatile Monocular Geometric Foun...	2024-03-22	Code
6	UniDepth (Zero-shot)	0.201	Yes	UniDepth: Universal Monocular Metric Depth Estim...	2024-03-27	Code
7	Depth Anything	0.206	Yes	Depth Anything: Unleashing the Power of Large-Sc...	2024-01-19	Code
8	ECoDepth	0.218	No	ECoDepth: Effective Conditioning of Diffusion Mo...	2024-03-27	Code
9	MetaPrompt-SD	0.223	Yes	Harnessing Diffusion Models for Visual Perceptio...	2023-12-22	Code
10	Marigold	0.224	Yes	Repurposing Diffusion-Based Image Generators for...	2023-12-04	Code
11	EVP	0.224	No	EVP: Enhanced Visual Perception using Inverse Mu...	2023-12-13	Code
12	TADP	0.225	Yes	Text-image Alignment for Diffusion-based Percept...	2023-09-29	Code
13	FutureDepth	0.233	No	FutureDepth: Learning to Predict the Future Impr...	2024-03-19	-
14	MeSa	0.238	No	MeSa: Masked, Geometric, and Supervised Pre-trai...	2023-10-06	-
15	PolyMaX(ConvNeXt-L)	0.25	Yes	PolyMaX: General Dense Prediction with Mask Tran...	2023-11-09	Code
16	GRIN	0.251	Yes	GRIN: Zero-Shot Metric Depth with Pixel-Level Di...	2024-09-15	-
17	VPD	0.254	No	Unleashing Text-to-Image Diffusion Models for Vi...	2023-03-03	Code
18	ScaleDepth-N	0.267	No	ScaleDepth: Decomposing Metric Depth Estimation ...	2024-07-11	Code
19	ZoeD-M12-N	0.27	Yes	ZoeDepth: Zero-shot Transfer by Combining Relati...	2023-02-23	Code
20	AiT-P(SwinV2-L)	0.275	No	All in Tokens: Unifying Output Space of Visual T...	2023-01-05	Code
21	DINOv2 (ViT-g/14 frozen, w/ DPT decoder)	0.279	Yes	DINOv2: Learning Robust Visual Features without ...	2023-04-14	Code
22	NVDS(DPT-L)	0.282	Yes	NVDS+: Towards Efficient and Versatile Neural St...	2023-07-17	Code
23	SwinV2-L 1K-MIM	0.287	No	Revealing the Dark Secrets of Masked Image Model...	2022-05-26	Code
24	DMD	0.296	Yes	Zero-Shot Metric Depth with a Field-of-View Cond...	2023-12-20	-
25	VA-DepthNet(SwinV1-L)	0.304	No	VA-DepthNet: A Variational Approach to Single Im...	2023-02-13	Code
26	MIM-Swin-V2	0.3046	No	Analysis of NaN Divergence in Training Monocular...	2023-11-07	-
27	Metric3D (ConvNeXt-Large, Zero-shot testing)	0.31	Yes	Metric3D: Towards Zero-shot Metric 3D Prediction...	2023-07-20	Code
28	NDDepth	0.311	No	NDDepth: Normal-Distance Assisted Monocular Dept...	2023-09-19	Code
29	DepthGen	0.314	Yes	Monocular Depth Estimation using Diffusion Models	2023-02-28	-
30	IEBins	0.314	No	IEBins: Iterative Elastic Bins for Monocular Dep...	2023-09-25	Code
31	URCDC-Depth	0.316	No	URCDC-Depth: Uncertainty Rectified Cross-Distill...	2023-02-16	Code
32	OrdinalEntropy	0.321	No	Improving Deep Regression with Ordinal Entropy	2023-01-21	Code
33	PixelFormer	0.322	No	Attention Attention Everywhere: Monocular Depth ...	2022-10-17	Code
34	DDP (step3)	0.329	No	DDP: Diffusion Model for Dense Visual Prediction	2023-03-30	Code
35	BinsFormer	0.33	No	BinsFormer: Revisiting Adaptive Bins for Monocul...	2022-04-03	Code
36	NVS-MonoDepth	0.331	No	NVS-MonoDepth: Improving Monocular Depth Predict...	2021-12-22	-
37	NeWCRFs	0.334	No	NeW CRFs: Neural Window Fully-connected CRFs for...	2022-03-03	Code
38	DepthFormer	0.339	No	DepthFormer: Exploiting Long-Range Correlation a...	2022-03-27	Code
39	GLPDepth	0.344	No	Global-Local Path Networks for Monocular Depth E...	2022-01-19	Code
40	Depthformer	0.345	No	Depthformer : Multiscale Vision Transformer For ...	2022-07-10	Code
41	LocalBins	0.351	No	LocalBins: Improving Depth Estimation by Learnin...	2022-03-28	Code
42	IronDepth	0.352	No	IronDepth: Iterative Refinement of Single-View D...	2022-10-07	Code
43	D-Net	0.354	No	-	-	Code
44	Depth-Map-Decomposition-HRWSI	0.355	Yes	Depth Map Decomposition for Monocular Depth Esti...	2022-08-23	Code
45	P3Depth	0.356	No	P3Depth: Monocular Depth Estimation with a Piece...	2022-04-05	Code
46	DPT-Hybrid	0.357	Yes	Vision Transformers for Dense Prediction	2021-03-24	Code
47	Depth-Map-Decomposition	0.362	No	Depth Map Decomposition for Monocular Depth Esti...	2022-08-23	Code
48	Gaming for Depth (GfD)	0.364	Yes	-	-	-
49	AdaBins	0.364	No	AdaBins: Depth Estimation using Adaptive Bins	2020-11-28	Code
50	CutDepth	0.375	Yes	CutDepth:Edge-aware Data Augmentation in Depth E...	2021-07-16	Code
51	LapDepth	0.384	No	-	-	Code
52	BTS	0.392	No	From Big to Small: Multi-Scale Local Planar Guid...	2019-07-24	Code
53	Focal-WNet	0.398	No	-	-	Code
54	VNL	0.416	No	Enforcing geometric constraints of virtual norma...	2019-07-29	Code
55	DSN	0.429	Yes	On Deep Learning Techniques to Boost Monocular D...	2020-10-13	-
56	DenseDepth	0.465	No	High Quality Monocular Depth Estimation via Tran...	2018-12-31	Code
57	ACAN	0.496	No	Attention-based Context Aggregation Network for ...	2019-01-29	Code
58	SharpNet	0.496	No	SharpNet: Fast and Accurate Recovery of Occludin...	2019-05-21	Code
59	PAP-Depth	0.497	No	Pattern-Affinitive Propagation across Depth, Sur...	2019-06-08	-
60	SDC-Depth	0.497	No	-	-	-
61	DORN	0.509	No	Deep Ordinal Regression Network for Monocular De...	2018-06-06	Code
62	SARPN	0.514	No	Structure-Aware Residual Pyramid Network for Mon...	2019-07-13	Code
63	InvPT	0.5183	No	InvPT: Inverted Pyramid Multi-task Transformer f...	2022-03-15	Code
64	FastDenseNas-arch0	0.523	No	Fast Neural Architecture Search of Compact Seman...	2018-10-25	Code
65	FastDenseNas-arch2	0.525	No	Fast Neural Architecture Search of Compact Seman...	2018-10-25	Code
66	FastDenseNas-arch1	0.526	No	Fast Neural Architecture Search of Compact Seman...	2018-10-25	Code
67	SENet-154	0.53	No	Revisiting Single Image Depth Estimation: Toward...	2018-03-23	Code
68	SC-DepthV2	0.532	No	Auto-Rectify Network for Unsupervised Indoor Dep...	2020-06-04	Code
69	ProbMonoDepth	0.536	No	Generating and Exploiting Probabilistic Monocula...	2019-06-13	Code
70	RelativeDepth	0.538	No	-	-	-
71	PGT (Swin-S)	0.5468	No	Prompt Guided Transformer for Multi-Task Dense P...	2023-07-28	Code
72	Index Network	0.565	No	Index Network	2019-08-11	Code
73	Multi-Task Light-Weight-RefineNet	0.565	No	Real-Time Joint Semantic Segmentation and Depth ...	2018-09-13	Code
74	DeepLabV3+ (F10)	0.575	No	Single Image Depth Estimation Trained via Depth ...	2020-01-14	Code
75	Xu et al.	0.586	No	Multi-Scale Continuous CRFs as Sequential Deep N...	2017-04-07	Code
76	PGT (Swin-T)	0.59	No	Prompt Guided Transformer for Multi-Task Dense P...	2023-07-28	Code
77	SOM	0.604	No	Structure-Attentioned Memory Network for Monocul...	2019-09-10	-
78	Li et al.	0.635	No	A Two-Streamed Network for Estimating Fine-Scale...	2016-07-04	-
79	Eigen et al.	0.641	No	Predicting Depth, Surface Normals and Semantic L...	2014-11-18	Code

#1Defocus/DepthNet (Normalized)SOTA
0.013
RMSE· 2020-05-19
Focus on defocus: bridging the synthetic to real domain gap for depth estimation Code
#2HybridDepth
0.128
RMSE· 2024-07-26
HybridDepth: Robust Metric Depth Fusion by Leveraging Depth from Focus and Single-Image Priors Code
#3UniK3D (FT, metric)
0.173
RMSE· 2025-03-20
UniK3D: Universal Camera Monocular 3D Estimation Code
#4UniDepthV2 (FT, metric)
0.18
RMSE· Extra Data· 2025-02-27
UniDepthV2: Universal Monocular Metric Depth Estimation Made Simpler Code
#5Metric3Dv2(L, FT)
0.183
RMSE· Extra Data· 2024-03-22
Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimation Code
#6UniDepth (Zero-shot)
0.201
RMSE· Extra Data· 2024-03-27
UniDepth: Universal Monocular Metric Depth Estimation Code
#7Depth Anything
0.206
RMSE· Extra Data· 2024-01-19
Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data Code
#8ECoDepth
0.218
RMSE· 2024-03-27
ECoDepth: Effective Conditioning of Diffusion Models for Monocular Depth Estimation Code
#9MetaPrompt-SD
0.223
RMSE· Extra Data· 2023-12-22
Harnessing Diffusion Models for Visual Perception with Meta Prompts Code
#10Marigold
0.224
RMSE· Extra Data· 2023-12-04
Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation Code
#11EVP
0.224
RMSE· 2023-12-13
EVP: Enhanced Visual Perception using Inverse Multi-Attentive Feature Refinement and Regularized Image-Text Alignment Code
#12TADP
0.225
RMSE· Extra Data· 2023-09-29
Text-image Alignment for Diffusion-based Perception Code
#13FutureDepth
0.233
RMSE· 2024-03-19
FutureDepth: Learning to Predict the Future Improves Video Depth Estimation
#14MeSa
0.238
RMSE· 2023-10-06
MeSa: Masked, Geometric, and Supervised Pre-training for Monocular Depth Estimation
#15PolyMaX(ConvNeXt-L)
0.25
RMSE· Extra Data· 2023-11-09
PolyMaX: General Dense Prediction with Mask Transformer Code
#16GRIN
0.251
RMSE· Extra Data· 2024-09-15
GRIN: Zero-Shot Metric Depth with Pixel-Level Diffusion
#17VPD
0.254
RMSE· 2023-03-03
Unleashing Text-to-Image Diffusion Models for Visual Perception Code
#18ScaleDepth-N
0.267
RMSE· 2024-07-11
ScaleDepth: Decomposing Metric Depth Estimation into Scale Prediction and Relative Depth Estimation Code
#19ZoeD-M12-N
0.27
RMSE· Extra Data· 2023-02-23
ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depth Code
#20AiT-P(SwinV2-L)
0.275
RMSE· 2023-01-05
All in Tokens: Unifying Output Space of Visual Tasks via Soft Token Code
#21DINOv2 (ViT-g/14 frozen, w/ DPT decoder)
0.279
RMSE· Extra Data· 2023-04-14
DINOv2: Learning Robust Visual Features without Supervision Code
#22NVDS(DPT-L)
0.282
RMSE· Extra Data· 2023-07-17
NVDS+: Towards Efficient and Versatile Neural Stabilizer for Video Depth Estimation Code
#23SwinV2-L 1K-MIM
0.287
RMSE· 2022-05-26
Revealing the Dark Secrets of Masked Image Modeling Code
#24DMD
0.296
RMSE· Extra Data· 2023-12-20
Zero-Shot Metric Depth with a Field-of-View Conditioned Diffusion Model
#25VA-DepthNet(SwinV1-L)
0.304
RMSE· 2023-02-13
VA-DepthNet: A Variational Approach to Single Image Depth Prediction Code
#26MIM-Swin-V2
0.3046
RMSE· 2023-11-07
Analysis of NaN Divergence in Training Monocular Depth Estimation Model
#27Metric3D (ConvNeXt-Large, Zero-shot testing)
0.31
RMSE· Extra Data· 2023-07-20
Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Image Code
#28NDDepth
0.311
RMSE· 2023-09-19
NDDepth: Normal-Distance Assisted Monocular Depth Estimation Code
#29DepthGen
0.314
RMSE· Extra Data· 2023-02-28
Monocular Depth Estimation using Diffusion Models
#30IEBins
0.314
RMSE· 2023-09-25
IEBins: Iterative Elastic Bins for Monocular Depth Estimation Code
#31URCDC-Depth
0.316
RMSE· 2023-02-16
URCDC-Depth: Uncertainty Rectified Cross-Distillation with CutFlip for Monocular Depth Estimation Code
#32OrdinalEntropy
0.321
RMSE· 2023-01-21
Improving Deep Regression with Ordinal Entropy Code
#33PixelFormer
0.322
RMSE· 2022-10-17
Attention Attention Everywhere: Monocular Depth Prediction with Skip Attention Code
#34DDP (step3)
0.329
RMSE· 2023-03-30
DDP: Diffusion Model for Dense Visual Prediction Code
#35BinsFormer
0.33
RMSE· 2022-04-03
BinsFormer: Revisiting Adaptive Bins for Monocular Depth Estimation Code
#36NVS-MonoDepth
0.331
RMSE· 2021-12-22
NVS-MonoDepth: Improving Monocular Depth Prediction with Novel View Synthesis
#37NeWCRFs
0.334
RMSE· 2022-03-03
NeW CRFs: Neural Window Fully-connected CRFs for Monocular Depth Estimation Code
#38DepthFormer
0.339
RMSE· 2022-03-27
DepthFormer: Exploiting Long-Range Correlation and Local Information for Accurate Monocular Depth Estimation Code
#39GLPDepth
0.344
RMSE· 2022-01-19
Global-Local Path Networks for Monocular Depth Estimation with Vertical CutDepth Code
#40Depthformer
0.345
RMSE· 2022-07-10
Depthformer : Multiscale Vision Transformer For Monocular Depth Estimation With Local Global Information Fusion Code
#41LocalBins
0.351
RMSE· 2022-03-28
LocalBins: Improving Depth Estimation by Learning Local Distributions Code
#42IronDepth
0.352
RMSE· 2022-10-07
IronDepth: Iterative Refinement of Single-View Depth using Surface Normal and its Uncertainty Code
#43D-Net
0.354
RMSE
No paperCode
#44Depth-Map-Decomposition-HRWSI
0.355
RMSE· Extra Data· 2022-08-23
Depth Map Decomposition for Monocular Depth Estimation Code
#45P3Depth
0.356
RMSE· 2022-04-05
P3Depth: Monocular Depth Estimation with a Piecewise Planarity Prior Code
#46DPT-Hybrid
0.357
RMSE· Extra Data· 2021-03-24
Vision Transformers for Dense Prediction Code
#47Depth-Map-Decomposition
0.362
RMSE· 2022-08-23
Depth Map Decomposition for Monocular Depth Estimation Code
#48Gaming for Depth (GfD)
0.364
RMSE· Extra Data
No paper
#49AdaBins
0.364
RMSE· 2020-11-28
AdaBins: Depth Estimation using Adaptive Bins Code
#50CutDepth
0.375
RMSE· Extra Data· 2021-07-16
CutDepth:Edge-aware Data Augmentation in Depth Estimation Code
#51LapDepth
0.384
RMSE
No paperCode
#52BTSSOTA
0.392
RMSE· 2019-07-24
From Big to Small: Multi-Scale Local Planar Guidance for Monocular Depth Estimation Code
#53Focal-WNet
0.398
RMSE
No paperCode
#54VNL
0.416
RMSE· 2019-07-29
Enforcing geometric constraints of virtual normal for depth prediction Code
#55DSN
0.429
RMSE· Extra Data· 2020-10-13
On Deep Learning Techniques to Boost Monocular Depth Estimation for Autonomous Navigation
#56DenseDepthSOTA
0.465
RMSE· 2018-12-31
High Quality Monocular Depth Estimation via Transfer Learning Code
#57ACAN
0.496
RMSE· 2019-01-29
Attention-based Context Aggregation Network for Monocular Depth Estimation Code
#58SharpNet
0.496
RMSE· 2019-05-21
SharpNet: Fast and Accurate Recovery of Occluding Contours in Monocular Depth Estimation Code
#59PAP-Depth
0.497
RMSE· 2019-06-08
Pattern-Affinitive Propagation across Depth, Surface Normal and Semantic Segmentation
#60SDC-Depth
0.497
RMSE
No paper
#61DORNSOTA
0.509
RMSE· 2018-06-06
Deep Ordinal Regression Network for Monocular Depth Estimation Code
#62SARPN
0.514
RMSE· 2019-07-13
Structure-Aware Residual Pyramid Network for Monocular Depth Estimation Code
#63InvPT
0.5183
RMSE· 2022-03-15
InvPT: Inverted Pyramid Multi-task Transformer for Dense Scene Understanding Code
#64FastDenseNas-arch0
0.523
RMSE· 2018-10-25
Fast Neural Architecture Search of Compact Semantic Segmentation Models via Auxiliary Cells Code
#65FastDenseNas-arch2
0.525
RMSE· 2018-10-25
Fast Neural Architecture Search of Compact Semantic Segmentation Models via Auxiliary Cells Code
#66FastDenseNas-arch1
0.526
RMSE· 2018-10-25
Fast Neural Architecture Search of Compact Semantic Segmentation Models via Auxiliary Cells Code
#67SENet-154SOTA
0.53
RMSE· 2018-03-23
Revisiting Single Image Depth Estimation: Toward Higher Resolution Maps with Accurate Object Boundaries Code
#68SC-DepthV2
0.532
RMSE· 2020-06-04
Auto-Rectify Network for Unsupervised Indoor Depth Estimation Code
#69ProbMonoDepth
0.536
RMSE· 2019-06-13
Generating and Exploiting Probabilistic Monocular Depth Estimates Code
#70RelativeDepth
0.538
RMSE
No paper
#71PGT (Swin-S)
0.5468
RMSE· 2023-07-28
Prompt Guided Transformer for Multi-Task Dense Prediction Code
#72Index Network
0.565
RMSE· 2019-08-11
Index Network Code
#73Multi-Task Light-Weight-RefineNet
0.565
RMSE· 2018-09-13
Real-Time Joint Semantic Segmentation and Depth Estimation Using Asymmetric Annotations Code
#74DeepLabV3+ (F10)
0.575
RMSE· 2020-01-14
Single Image Depth Estimation Trained via Depth from Defocus Cues Code
#75Xu et al.SOTA
0.586
RMSE· 2017-04-07
Multi-Scale Continuous CRFs as Sequential Deep Networks for Monocular Depth Estimation Code
#76PGT (Swin-T)
0.59
RMSE· 2023-07-28
Prompt Guided Transformer for Multi-Task Dense Prediction Code
#77SOM
0.604
RMSE· 2019-09-10
Structure-Attentioned Memory Network for Monocular Depth Estimation
#78Li et al.SOTA
0.635
RMSE· 2016-07-04
A Two-Streamed Network for Estimating Fine-Scaled Depth Maps from Single RGB Images
#79Eigen et al.SOTA
0.641
RMSE· 2014-11-18
Predicting Depth, Surface Normals and Semantic Labels with a Common Multi-Scale Convolutional Architecture Code