Depth Estimation on NYU-Depth V2

Metric: absolute relative error (lower is better)

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#	Model↕	absolute relative error▲	Extra Data	Paper	Date↕	Code
1	HybridDepth	0.026	No	HybridDepth: Robust Metric Depth Fusion by Lever...	2024-07-26	Code
2	Distill Any Depth	0.043	No	Distill Any Depth: Distillation Creates a Strong...	2025-02-26	Code
3	UniK3D (FT, metric)	0.044	No	UniK3D: Universal Camera Monocular 3D Estimation	2025-03-20	Code
4	UniDepthV2 (FT, metric)	0.046	Yes	UniDepthV2: Universal Monocular Metric Depth Est...	2025-02-27	Code
5	PrimeDepth + Depth Anything	0.046	No	PrimeDepth: Efficient Monocular Depth Estimation...	2024-09-13	Code
6	Metric3Dv2(L, FT)	0.047	Yes	Metric3Dv2: A Versatile Monocular Geometric Foun...	2024-03-22	Code
7	DepthMaster	0.05	Yes	DepthMaster: Taming Diffusion Models for Monocul...	2025-01-05	Code
8	GRIN	0.051	Yes	GRIN: Zero-Shot Metric Depth with Pixel-Level Di...	2024-09-15	-
9	Marigold + E2E FT(zero-shot)	0.052	No	Fine-Tuning Image-Conditional Diffusion Models i...	2024-09-17	Code
10	Marigold	0.055	Yes	Repurposing Diffusion-Based Image Generators for...	2023-12-04	Code
11	Depth Anything	0.056	Yes	Depth Anything: Unleashing the Power of Large-Sc...	2024-01-19	Code
12	UniDepth (Zero-shot)	0.058	Yes	UniDepth: Universal Monocular Metric Depth Estim...	2024-03-27	Code
13	PrimeDepth	0.058	No	PrimeDepth: Efficient Monocular Depth Estimation...	2024-09-13	Code
14	ECoDepth	0.059	No	ECoDepth: Effective Conditioning of Diffusion Mo...	2024-03-27	Code
15	MetaPrompt-SD	0.061	Yes	Harnessing Diffusion Models for Visual Perceptio...	2023-12-22	Code
16	EVP	0.061	No	EVP: Enhanced Visual Perception using Inverse Mu...	2023-12-13	Code
17	TADP	0.062	Yes	Text-image Alignment for Diffusion-based Percept...	2023-09-29	Code
18	FutureDepth	0.063	No	FutureDepth: Learning to Predict the Future Impr...	2024-03-19	-
19	MeSa	0.066	No	MeSa: Masked, Geometric, and Supervised Pre-trai...	2023-10-06	-
20	PolyMaX(ConvNeXt-L)	0.067	Yes	PolyMaX: General Dense Prediction with Mask Tran...	2023-11-09	Code
21	VPD	0.069	No	Unleashing Text-to-Image Diffusion Models for Vi...	2023-03-03	Code
22	NVDS(DPT-L)	0.072	Yes	NVDS+: Towards Efficient and Versatile Neural St...	2023-07-17	Code
23	DMD	0.072	Yes	Zero-Shot Metric Depth with a Field-of-View Cond...	2023-12-20	-
24	ScaleDepth-N	0.074	No	ScaleDepth: Decomposing Metric Depth Estimation ...	2024-07-11	Code
25	DepthGen	0.074	Yes	Monocular Depth Estimation using Diffusion Models	2023-02-28	-
26	ZoeD-M12-N	0.075	Yes	ZoeDepth: Zero-shot Transfer by Combining Relati...	2023-02-23	Code
27	AiT-P(SwinV2-L)	0.076	No	All in Tokens: Unifying Output Space of Visual T...	2023-01-05	Code
28	Gaming for Depth (GfD)	0.08	Yes	-	-	-
29	SwinV2-L 1K-MIM	0.083	No	Revealing the Dark Secrets of Masked Image Model...	2022-05-26	Code
30	Metric3D (ConvNeXt-Large, Zero-shot testing)	0.083	Yes	Metric3D: Towards Zero-shot Metric 3D Prediction...	2023-07-20	Code
31	VA-DepthNet(SwinV1-L)	0.086	No	VA-DepthNet: A Variational Approach to Single Im...	2023-02-13	Code
32	iDisc	0.086	No	iDisc: Internal Discretization for Monocular Dep...	2023-04-13	Code
33	MIM-Swin-V2	0.0864	No	Analysis of NaN Divergence in Training Monocular...	2023-11-07	-
34	NDDepth	0.087	No	NDDepth: Normal-Distance Assisted Monocular Dept...	2023-09-19	Code
35	IEBins	0.087	No	IEBins: Iterative Elastic Bins for Monocular Dep...	2023-09-25	Code
36	URCDC-Depth	0.088	No	URCDC-Depth: Uncertainty Rectified Cross-Distill...	2023-02-16	Code
37	OrdinalEntropy	0.089	No	Improving Deep Regression with Ordinal Entropy	2023-01-21	Code
38	PixelFormer	0.09	No	Attention Attention Everywhere: Monocular Depth ...	2022-10-17	Code
39	LeReS	0.09	Yes	Learning to Recover 3D Scene Shape from a Single...	2020-12-17	Code
40	DINOv2 (ViT-g/14 frozen, w/ DPT decoder)	0.0907	Yes	DINOv2: Learning Robust Visual Features without ...	2023-04-14	Code
41	DDP (step3)	0.094	No	DDP: Diffusion Model for Dense Visual Prediction	2023-03-30	Code
42	BinsFormer	0.094	No	BinsFormer: Revisiting Adaptive Bins for Monocul...	2022-04-03	Code
43	NeWCRFs	0.095	No	NeW CRFs: Neural Window Fully-connected CRFs for...	2022-03-03	Code
44	D-Net	0.095	No	-	-	Code
45	DepthFormer	0.096	No	DepthFormer: Exploiting Long-Range Correlation a...	2022-03-27	Code
46	GLPDepth	0.098	No	Global-Local Path Networks for Monocular Depth E...	2022-01-19	Code
47	LocalBins	0.098	No	LocalBins: Improving Depth Estimation by Learnin...	2022-03-28	Code
48	Depth-Map-Decomposition-HRWSI	0.098	Yes	Depth Map Decomposition for Monocular Depth Esti...	2022-08-23	Code
49	Depthformer	0.1	No	Depthformer : Multiscale Vision Transformer For ...	2022-07-10	Code
50	Depth-Map-Decomposition	0.1	No	Depth Map Decomposition for Monocular Depth Esti...	2022-08-23	Code
51	IronDepth	0.101	No	IronDepth: Iterative Refinement of Single-View D...	2022-10-07	Code
52	AdaBins	0.103	No	AdaBins: Depth Estimation using Adaptive Bins	2020-11-28	Code
53	P3Depth	0.104	No	P3Depth: Monocular Depth Estimation with a Piece...	2022-04-05	Code
54	CutDepth	0.104	Yes	CutDepth:Edge-aware Data Augmentation in Depth E...	2021-07-16	Code
55	LapDepth	0.105	No	-	-	Code
56	DPT-Hybrid	0.11	Yes	Vision Transformers for Dense Prediction	2021-03-24	Code
57	VNL	0.111	No	Enforcing geometric constraints of virtual norma...	2019-07-29	Code
58	Focal-WNet	0.116	No	-	-	Code
59	SC-DepthV2	0.138	No	Auto-Rectify Network for Unsupervised Indoor Dep...	2020-06-04	Code