Depth Estimation on KITTI Eigen split unsupervised

Metric: RMSE log (lower is better)

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#	Model↕	RMSE log▲	Extra Data	Paper	Date↕	Code
1	SPIdepth	0.153	No	SPIdepth: Strengthened Pose Information for Self...	2024-04-18	Code
2	Jasmine	0.161	No	Jasmine: Harnessing Diffusion Prior for Self-sup...	2025-03-20	-
3	NimbleD-LiteMono-8M	0.165	No	NimbleD: Enhancing Self-supervised Monocular Dep...	2024-08-26	Code
4	ProDepth	0.166	No	ProDepth: Boosting Self-Supervised Multi-Frame M...	2024-07-12	Code
5	SCIPaD	0.166	No	SCIPaD: Incorporating Spatial Clues into Unsuper...	2024-07-07	Code
6	DCPI-Depth (M+1024x320)	0.167	No	DCPI-Depth: Explicitly Infusing Dense Correspond...	2024-05-27	-
7	PlaneDepth (S + 1280x384)	0.169	No	PlaneDepth: Self-supervised Depth Estimation via...	2022-10-04	Code
8	MonoViT(MS+1024x320)	0.169	No	MonoViT: Self-Supervised Monocular Depth Estimat...	2022-08-06	Code
9	Manydepth2(M+640x192)	0.17	No	Manydepth2: Motion-Aware Self-Supervised Multi-F...	2023-12-23	Code
10	Manydepth2-NF(M+640x192)	0.17	No	Manydepth2: Motion-Aware Self-Supervised Multi-F...	2023-12-23	Code
11	DCPI-Depth (M+640x192)	0.17	No	DCPI-Depth: Explicitly Infusing Dense Correspond...	2024-05-27	-
12	NimbleD-LiteMono	0.171	No	NimbleD: Enhancing Self-supervised Monocular Dep...	2024-08-26	Code
13	Nimbled-SwiftDepth	0.171	No	NimbleD: Enhancing Self-supervised Monocular Dep...	2024-08-26	Code
14	CREMono(M + 1024x320 + Res50)	0.171	No	-	-	-
15	DIFFNet (MS+1024x320)	0.172	No	Self-Supervised Monocular Depth Estimation with ...	2021-10-18	Code
16	TransDSSL	0.172	No	-	-	Code
17	ProDepth(M+640x192)	0.172	No	ProDepth: Boosting Self-Supervised Multi-Frame M...	2024-07-12	Code
18	Nimbled-MD2-R50	0.172	No	NimbleD: Enhancing Self-supervised Monocular Dep...	2024-08-26	Code
19	NimbleD-LiteMono-S	0.172	No	NimbleD: Enhancing Self-supervised Monocular Dep...	2024-08-26	Code
20	DS-Depth	0.173	No	DS-Depth: Dynamic and Static Depth Estimation vi...	2023-08-14	Code
21	CADepth-Net (MS+1024x320)	0.173	No	Channel-Wise Attention-Based Network for Self-Su...	2021-12-24	Code
22	Nimbled-SwiftDepth-S	0.174	No	NimbleD: Enhancing Self-supervised Monocular Dep...	2024-08-26	Code
23	DynamicDepth (M+640x192)	0.175	No	Disentangling Object Motion and Occlusion for Un...	2022-03-29	Code
24	SCIPaD(M+640x192)	0.175	No	SCIPaD: Incorporating Spatial Clues into Unsuper...	2024-07-07	Code
25	Nimbled-MD2-R18	0.175	No	NimbleD: Enhancing Self-supervised Monocular Dep...	2024-08-26	Code
26	EPCDepth(S+1024x320)	0.176	No	Excavating the Potential Capacity of Self-Superv...	2021-09-26	Code
27	VTDepthB2 (stereo supervision)	0.178	No	-	-	Code
28	X-Distill (M+1024x320)	0.18	No	X-Distill: Improving Self-Supervised Monocular D...	2021-10-24	-
29	GCNDepth	0.181	No	GCNDepth: Self-supervised Monocular Depth Estima...	2021-12-13	Code
30	VTDepthB2 (monocular supervision)	0.182	No	-	-	Code
31	EPCDepth(S+640x192)	0.183	No	Excavating the Potential Capacity of Self-Superv...	2021-09-26	Code
32	FeatDepth-MS	0.184	No	Feature-metric Loss for Self-supervised Learning...	2020-07-21	Code
33	SharinGAN	0.19	No	SharinGAN: Combining Synthetic and Real Data for...	2020-06-07	Code
34	Dyna-DM	0.192	No	Dyna-DM: Dynamic Object-aware Self-supervised Mo...	2022-06-08	Code

#1SPIdepthSOTA
0.153
RMSE log· 2024-04-18
SPIdepth: Strengthened Pose Information for Self-supervised Monocular Depth Estimation Code
#2Jasmine
0.161
RMSE log· 2025-03-20
Jasmine: Harnessing Diffusion Prior for Self-supervised Depth Estimation
#3NimbleD-LiteMono-8M
0.165
RMSE log· 2024-08-26
NimbleD: Enhancing Self-supervised Monocular Depth Estimation with Pseudo-labels and Large-scale Video Pre-training Code
#4ProDepth
0.166
RMSE log· 2024-07-12
ProDepth: Boosting Self-Supervised Multi-Frame Monocular Depth with Probabilistic Fusion Code
#5SCIPaD
0.166
RMSE log· 2024-07-07
SCIPaD: Incorporating Spatial Clues into Unsupervised Pose-Depth Joint Learning Code
#6DCPI-Depth (M+1024x320)
0.167
RMSE log· 2024-05-27
DCPI-Depth: Explicitly Infusing Dense Correspondence Prior to Unsupervised Monocular Depth Estimation
#7PlaneDepth (S + 1280x384)
0.169
RMSE log· 2022-10-04
PlaneDepth: Self-supervised Depth Estimation via Orthogonal Planes Code
#8MonoViT(MS+1024x320)SOTA
0.169
RMSE log· 2022-08-06
MonoViT: Self-Supervised Monocular Depth Estimation with a Vision Transformer Code
#9Manydepth2(M+640x192)
0.17
RMSE log· 2023-12-23
Manydepth2: Motion-Aware Self-Supervised Multi-Frame Monocular Depth Estimation in Dynamic Scenes Code
#10Manydepth2-NF(M+640x192)
0.17
RMSE log· 2023-12-23
Manydepth2: Motion-Aware Self-Supervised Multi-Frame Monocular Depth Estimation in Dynamic Scenes Code
#11DCPI-Depth (M+640x192)
0.17
RMSE log· 2024-05-27
DCPI-Depth: Explicitly Infusing Dense Correspondence Prior to Unsupervised Monocular Depth Estimation
#12NimbleD-LiteMono
0.171
RMSE log· 2024-08-26
NimbleD: Enhancing Self-supervised Monocular Depth Estimation with Pseudo-labels and Large-scale Video Pre-training Code
#13Nimbled-SwiftDepth
0.171
RMSE log· 2024-08-26
NimbleD: Enhancing Self-supervised Monocular Depth Estimation with Pseudo-labels and Large-scale Video Pre-training Code
#14CREMono(M + 1024x320 + Res50)
0.171
RMSE log
No paper
#15DIFFNet (MS+1024x320)SOTA
0.172
RMSE log· 2021-10-18
Self-Supervised Monocular Depth Estimation with Internal Feature Fusion Code
#16TransDSSL
0.172
RMSE log
No paperCode
#17ProDepth(M+640x192)
0.172
RMSE log· 2024-07-12
ProDepth: Boosting Self-Supervised Multi-Frame Monocular Depth with Probabilistic Fusion Code
#18Nimbled-MD2-R50
0.172
RMSE log· 2024-08-26
NimbleD: Enhancing Self-supervised Monocular Depth Estimation with Pseudo-labels and Large-scale Video Pre-training Code
#19NimbleD-LiteMono-S
0.172
RMSE log· 2024-08-26
NimbleD: Enhancing Self-supervised Monocular Depth Estimation with Pseudo-labels and Large-scale Video Pre-training Code
#20DS-Depth
0.173
RMSE log· 2023-08-14
DS-Depth: Dynamic and Static Depth Estimation via a Fusion Cost Volume Code
#21CADepth-Net (MS+1024x320)
0.173
RMSE log· 2021-12-24
Channel-Wise Attention-Based Network for Self-Supervised Monocular Depth Estimation Code
#22Nimbled-SwiftDepth-S
0.174
RMSE log· 2024-08-26
NimbleD: Enhancing Self-supervised Monocular Depth Estimation with Pseudo-labels and Large-scale Video Pre-training Code
#23DynamicDepth (M+640x192)
0.175
RMSE log· 2022-03-29
Disentangling Object Motion and Occlusion for Unsupervised Multi-frame Monocular Depth Code
#24SCIPaD(M+640x192)
0.175
RMSE log· 2024-07-07
SCIPaD: Incorporating Spatial Clues into Unsupervised Pose-Depth Joint Learning Code
#25Nimbled-MD2-R18
0.175
RMSE log· 2024-08-26
NimbleD: Enhancing Self-supervised Monocular Depth Estimation with Pseudo-labels and Large-scale Video Pre-training Code
#26EPCDepth(S+1024x320)SOTA
0.176
RMSE log· 2021-09-26
Excavating the Potential Capacity of Self-Supervised Monocular Depth Estimation Code
#27VTDepthB2 (stereo supervision)
0.178
RMSE log
No paperCode
#28X-Distill (M+1024x320)
0.18
RMSE log· 2021-10-24
X-Distill: Improving Self-Supervised Monocular Depth via Cross-Task Distillation
#29GCNDepth
0.181
RMSE log· 2021-12-13
GCNDepth: Self-supervised Monocular Depth Estimation based on Graph Convolutional Network Code
#30VTDepthB2 (monocular supervision)
0.182
RMSE log
No paperCode
#31EPCDepth(S+640x192)SOTA
0.183
RMSE log· 2021-09-26
Excavating the Potential Capacity of Self-Supervised Monocular Depth Estimation Code
#32FeatDepth-MSSOTA
0.184
RMSE log· 2020-07-21
Feature-metric Loss for Self-supervised Learning of Depth and Egomotion Code
#33SharinGANSOTA
0.19
RMSE log· 2020-06-07
SharinGAN: Combining Synthetic and Real Data for Unsupervised Geometry Estimation Code
#34Dyna-DM
0.192
RMSE log· 2022-06-08
Dyna-DM: Dynamic Object-aware Self-supervised Monocular Depth Maps Code