Depth Estimation on KITTI Eigen split unsupervised

Metric: absolute relative error (lower is better)

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#	Model↕	absolute relative error▲	Extra Data	Paper	Date↕	Code
1	SPIdepth	0.071	No	SPIdepth: Strengthened Pose Information for Self...	2024-04-18	Code
2	PlaneDepth (S + 1280x384)	0.084	No	PlaneDepth: Self-supervised Depth Estimation via...	2022-10-04	Code
3	ProDepth	0.086	No	ProDepth: Boosting Self-Supervised Multi-Frame M...	2024-07-12	Code
4	Jasmine	0.09	No	Jasmine: Harnessing Diffusion Prior for Self-sup...	2025-03-20	-
5	SCIPaD	0.09	No	SCIPaD: Incorporating Spatial Clues into Unsuper...	2024-07-07	Code
6	DCPI-Depth (M+1024x320)	0.09	No	DCPI-Depth: Explicitly Infusing Dense Correspond...	2024-05-27	-
7	EPCDepth(S+1024x320)	0.091	No	Excavating the Potential Capacity of Self-Superv...	2021-09-26	Code
8	Manydepth2(M+640x192)	0.091	No	Manydepth2: Motion-Aware Self-Supervised Multi-F...	2023-12-23	Code
9	NimbleD-LiteMono-8M	0.092	No	NimbleD: Enhancing Self-supervised Monocular Dep...	2024-08-26	Code
10	MonoViT(MS+1024x320)	0.093	No	MonoViT: Self-Supervised Monocular Depth Estimat...	2022-08-06	Code
11	Manydepth2-NF(M+640x192)	0.094	No	Manydepth2: Motion-Aware Self-Supervised Multi-F...	2023-12-23	Code
12	DIFFNet (MS+1024x320)	0.094	No	Self-Supervised Monocular Depth Estimation with ...	2021-10-18	Code
13	DCPI-Depth (M+640x192)	0.095	No	DCPI-Depth: Explicitly Infusing Dense Correspond...	2024-05-27	-
14	TransDSSL	0.095	No	-	-	Code
15	DS-Depth	0.095	No	DS-Depth: Dynamic and Static Depth Estimation vi...	2023-08-14	Code
16	ProDepth(M+640x192)	0.095	No	ProDepth: Boosting Self-Supervised Multi-Frame M...	2024-07-12	Code
17	CADepth-Net (MS+1024x320)	0.096	No	Channel-Wise Attention-Based Network for Self-Su...	2021-12-24	Code
18	NimbleD-LiteMono	0.096	No	NimbleD: Enhancing Self-supervised Monocular Dep...	2024-08-26	Code
19	Nimbled-SwiftDepth	0.096	No	NimbleD: Enhancing Self-supervised Monocular Dep...	2024-08-26	Code
20	DynamicDepth (M+640x192)	0.096	No	Disentangling Object Motion and Occlusion for Un...	2022-03-29	Code
21	Nimbled-MD2-R50	0.097	No	NimbleD: Enhancing Self-supervised Monocular Dep...	2024-08-26	Code
22	SCIPaD(M+640x192)	0.098	No	SCIPaD: Incorporating Spatial Clues into Unsuper...	2024-07-07	Code
23	Nimbled-SwiftDepth-S	0.098	No	NimbleD: Enhancing Self-supervised Monocular Dep...	2024-08-26	Code
24	CREMono(M + 1024x320 + Res50)	0.099	No	-	-	-
25	NimbleD-LiteMono-S	0.099	No	NimbleD: Enhancing Self-supervised Monocular Dep...	2024-08-26	Code
26	FeatDepth-MS	0.099	No	Feature-metric Loss for Self-supervised Learning...	2020-07-21	Code
27	VTDepthB2 (stereo supervision)	0.099	No	-	-	Code
28	EPCDepth(S+640x192)	0.099	No	Excavating the Potential Capacity of Self-Superv...	2021-09-26	Code
29	Nimbled-MD2-R18	0.1	No	NimbleD: Enhancing Self-supervised Monocular Dep...	2024-08-26	Code
30	MonoDEVSNet	0.101	No	Monocular Depth Estimation through Virtual-world...	2021-03-22	Code
31	HR-Depth-MS-1024X320	0.101	No	HR-Depth: High Resolution Self-Supervised Monocu...	2020-12-14	Code
32	X-Distill (M+1024x320)	0.102	No	X-Distill: Improving Self-Supervised Monocular D...	2021-10-24	-
33	CamLessMonoDepth-1024x320	0.102	No	CamLessMonoDepth: Monocular Depth Estimation wit...	2021-10-27	-
34	GCNDepth	0.104	No	GCNDepth: Self-supervised Monocular Depth Estima...	2021-12-13	Code
35	FeatDepth-M	0.104	No	Feature-metric Loss for Self-supervised Learning...	2020-07-21	Code
36	HR-Depth-M-1280x384	0.104	No	HR-Depth: High Resolution Self-Supervised Monocu...	2020-12-14	Code
37	Lite-HR-Depth-T-1280x384	0.104	No	HR-Depth: High Resolution Self-Supervised Monocu...	2020-12-14	Code
38	MonoFormer	0.104	No	Deep Digging into the Generalization of Self-Sup...	2022-05-23	Code
39	VTDepthB2 (monocular supervision)	0.105	No	-	-	Code
40	CamLessMonoDepth (V1)-640x192	0.105	No	CamLessMonoDepth: Monocular Depth Estimation wit...	2021-10-27	-
41	Monodepth2 MS	0.106	No	-	-	Code
42	CamLessMonoDepth (V2)-640x192	0.106	No	CamLessMonoDepth: Monocular Depth Estimation wit...	2021-10-27	-
43	PackNet-SfM M	0.107	No	3D Packing for Self-Supervised Monocular Depth E...	2019-05-06	Code
44	SharinGAN	0.109	No	SharinGAN: Combining Synthetic and Real Data for...	2020-06-07	Code
45	DCPI-Depth (M+832x256+SC-V3)	0.109	No	DCPI-Depth: Explicitly Infusing Dense Correspond...	2024-05-27	-
46	Monodepth2 S	0.109	No	-	-	Code
47	HR-Depth-M-640x192	0.109	No	HR-Depth: High Resolution Self-Supervised Monocu...	2020-12-14	Code
48	G2S (MD2-M-R18-pp-640 x 192)	0.109	No	Multimodal Scale Consistency and Awareness for M...	2021-03-03	Code
49	SuperDepth S	0.112	No	SuperDepth: Self-Supervised, Super-Resolved Mono...	2018-10-03	-
50	Occlusion_mask_640x192	0.113	No	Improving Self-Supervised Single View Depth Esti...	2019-08-29	Code
51	pc4consistentdepth	0.113	No	Pose Constraints for Consistent Self-supervised ...	2023-04-18	Code
52	Dyna-DM	0.115	No	Dyna-DM: Dynamic Object-aware Self-supervised Mo...	2022-06-08	Code
53	Monodepth2 M	0.115	No	-	-	Code
54	Monodepth S	0.133	No	Unsupervised Monocular Depth Estimation with Lef...	2016-09-13	Code
55	Struct2Depth M	0.1412	No	Unsupervised Monocular Depth and Ego-motion Lear...	2019-06-12	-

#1SPIdepthSOTA
0.071
absolute relative error· 2024-04-18
SPIdepth: Strengthened Pose Information for Self-supervised Monocular Depth Estimation Code
#2PlaneDepth (S + 1280x384)SOTA
0.084
absolute relative error· 2022-10-04
PlaneDepth: Self-supervised Depth Estimation via Orthogonal Planes Code
#3ProDepth
0.086
absolute relative error· 2024-07-12
ProDepth: Boosting Self-Supervised Multi-Frame Monocular Depth with Probabilistic Fusion Code
#4Jasmine
0.09
absolute relative error· 2025-03-20
Jasmine: Harnessing Diffusion Prior for Self-supervised Depth Estimation
#5SCIPaD
0.09
absolute relative error· 2024-07-07
SCIPaD: Incorporating Spatial Clues into Unsupervised Pose-Depth Joint Learning Code
#6DCPI-Depth (M+1024x320)
0.09
absolute relative error· 2024-05-27
DCPI-Depth: Explicitly Infusing Dense Correspondence Prior to Unsupervised Monocular Depth Estimation
#7EPCDepth(S+1024x320)SOTA
0.091
absolute relative error· 2021-09-26
Excavating the Potential Capacity of Self-Supervised Monocular Depth Estimation Code
#8Manydepth2(M+640x192)
0.091
absolute relative error· 2023-12-23
Manydepth2: Motion-Aware Self-Supervised Multi-Frame Monocular Depth Estimation in Dynamic Scenes Code
#9NimbleD-LiteMono-8M
0.092
absolute relative error· 2024-08-26
NimbleD: Enhancing Self-supervised Monocular Depth Estimation with Pseudo-labels and Large-scale Video Pre-training Code
#10MonoViT(MS+1024x320)
0.093
absolute relative error· 2022-08-06
MonoViT: Self-Supervised Monocular Depth Estimation with a Vision Transformer Code
#11Manydepth2-NF(M+640x192)
0.094
absolute relative error· 2023-12-23
Manydepth2: Motion-Aware Self-Supervised Multi-Frame Monocular Depth Estimation in Dynamic Scenes Code
#12DIFFNet (MS+1024x320)
0.094
absolute relative error· 2021-10-18
Self-Supervised Monocular Depth Estimation with Internal Feature Fusion Code
#13DCPI-Depth (M+640x192)
0.095
absolute relative error· 2024-05-27
DCPI-Depth: Explicitly Infusing Dense Correspondence Prior to Unsupervised Monocular Depth Estimation
#14TransDSSL
0.095
absolute relative error
No paperCode
#15DS-Depth
0.095
absolute relative error· 2023-08-14
DS-Depth: Dynamic and Static Depth Estimation via a Fusion Cost Volume Code
#16ProDepth(M+640x192)
0.095
absolute relative error· 2024-07-12
ProDepth: Boosting Self-Supervised Multi-Frame Monocular Depth with Probabilistic Fusion Code
#17CADepth-Net (MS+1024x320)
0.096
absolute relative error· 2021-12-24
Channel-Wise Attention-Based Network for Self-Supervised Monocular Depth Estimation Code
#18NimbleD-LiteMono
0.096
absolute relative error· 2024-08-26
NimbleD: Enhancing Self-supervised Monocular Depth Estimation with Pseudo-labels and Large-scale Video Pre-training Code
#19Nimbled-SwiftDepth
0.096
absolute relative error· 2024-08-26
NimbleD: Enhancing Self-supervised Monocular Depth Estimation with Pseudo-labels and Large-scale Video Pre-training Code
#20DynamicDepth (M+640x192)
0.096
absolute relative error· 2022-03-29
Disentangling Object Motion and Occlusion for Unsupervised Multi-frame Monocular Depth Code
#21Nimbled-MD2-R50
0.097
absolute relative error· 2024-08-26
NimbleD: Enhancing Self-supervised Monocular Depth Estimation with Pseudo-labels and Large-scale Video Pre-training Code
#22SCIPaD(M+640x192)
0.098
absolute relative error· 2024-07-07
SCIPaD: Incorporating Spatial Clues into Unsupervised Pose-Depth Joint Learning Code
#23Nimbled-SwiftDepth-S
0.098
absolute relative error· 2024-08-26
NimbleD: Enhancing Self-supervised Monocular Depth Estimation with Pseudo-labels and Large-scale Video Pre-training Code
#24CREMono(M + 1024x320 + Res50)
0.099
absolute relative error
No paper
#25NimbleD-LiteMono-S
0.099
absolute relative error· 2024-08-26
NimbleD: Enhancing Self-supervised Monocular Depth Estimation with Pseudo-labels and Large-scale Video Pre-training Code
#26FeatDepth-MSSOTA
0.099
absolute relative error· 2020-07-21
Feature-metric Loss for Self-supervised Learning of Depth and Egomotion Code
#27VTDepthB2 (stereo supervision)
0.099
absolute relative error
No paperCode
#28EPCDepth(S+640x192)
0.099
absolute relative error· 2021-09-26
Excavating the Potential Capacity of Self-Supervised Monocular Depth Estimation Code
#29Nimbled-MD2-R18
0.1
absolute relative error· 2024-08-26
NimbleD: Enhancing Self-supervised Monocular Depth Estimation with Pseudo-labels and Large-scale Video Pre-training Code
#30MonoDEVSNet
0.101
absolute relative error· 2021-03-22
Monocular Depth Estimation through Virtual-world Supervision and Real-world SfM Self-Supervision Code
#31HR-Depth-MS-1024X320
0.101
absolute relative error· 2020-12-14
HR-Depth: High Resolution Self-Supervised Monocular Depth Estimation Code
#32X-Distill (M+1024x320)
0.102
absolute relative error· 2021-10-24
X-Distill: Improving Self-Supervised Monocular Depth via Cross-Task Distillation
#33CamLessMonoDepth-1024x320
0.102
absolute relative error· 2021-10-27
CamLessMonoDepth: Monocular Depth Estimation with Unknown Camera Parameters
#34GCNDepth
0.104
absolute relative error· 2021-12-13
GCNDepth: Self-supervised Monocular Depth Estimation based on Graph Convolutional Network Code
#35FeatDepth-MSOTA
0.104
absolute relative error· 2020-07-21
Feature-metric Loss for Self-supervised Learning of Depth and Egomotion Code
#36HR-Depth-M-1280x384
0.104
absolute relative error· 2020-12-14
HR-Depth: High Resolution Self-Supervised Monocular Depth Estimation Code
#37Lite-HR-Depth-T-1280x384
0.104
absolute relative error· 2020-12-14
HR-Depth: High Resolution Self-Supervised Monocular Depth Estimation Code
#38MonoFormer
0.104
absolute relative error· 2022-05-23
Deep Digging into the Generalization of Self-Supervised Monocular Depth Estimation Code
#39VTDepthB2 (monocular supervision)
0.105
absolute relative error
No paperCode
#40CamLessMonoDepth (V1)-640x192
0.105
absolute relative error· 2021-10-27
CamLessMonoDepth: Monocular Depth Estimation with Unknown Camera Parameters
#41Monodepth2 MS
0.106
absolute relative error
No paperCode
#42CamLessMonoDepth (V2)-640x192
0.106
absolute relative error· 2021-10-27
CamLessMonoDepth: Monocular Depth Estimation with Unknown Camera Parameters
#43PackNet-SfM MSOTA
0.107
absolute relative error· 2019-05-06
3D Packing for Self-Supervised Monocular Depth Estimation Code
#44SharinGAN
0.109
absolute relative error· 2020-06-07
SharinGAN: Combining Synthetic and Real Data for Unsupervised Geometry Estimation Code
#45DCPI-Depth (M+832x256+SC-V3)
0.109
absolute relative error· 2024-05-27
DCPI-Depth: Explicitly Infusing Dense Correspondence Prior to Unsupervised Monocular Depth Estimation
#46Monodepth2 S
0.109
absolute relative error
No paperCode
#47HR-Depth-M-640x192
0.109
absolute relative error· 2020-12-14
HR-Depth: High Resolution Self-Supervised Monocular Depth Estimation Code
#48G2S (MD2-M-R18-pp-640 x 192)
0.109
absolute relative error· 2021-03-03
Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimation Code
#49SuperDepth SSOTA
0.112
absolute relative error· 2018-10-03
SuperDepth: Self-Supervised, Super-Resolved Monocular Depth Estimation
#50Occlusion_mask_640x192
0.113
absolute relative error· 2019-08-29
Improving Self-Supervised Single View Depth Estimation by Masking Occlusion Code
#51pc4consistentdepth
0.113
absolute relative error· 2023-04-18
Pose Constraints for Consistent Self-supervised Monocular Depth and Ego-motion Code
#52Dyna-DM
0.115
absolute relative error· 2022-06-08
Dyna-DM: Dynamic Object-aware Self-supervised Monocular Depth Maps Code
#53Monodepth2 M
0.115
absolute relative error
No paperCode
#54Monodepth SSOTA
0.133
absolute relative error· 2016-09-13
Unsupervised Monocular Depth Estimation with Left-Right Consistency Code
#55Struct2Depth M
0.1412
absolute relative error· 2019-06-12
Unsupervised Monocular Depth and Ego-motion Learning with Structure and Semantics