3D on KITTI Eigen split

Metric: absolute relative error (lower is better)

LeaderboardDataset

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#	Model↕	absolute relative error▲	Augmentations	Paper	Date↕	Code
1	SPIDepth	0.029	Yes	SPIdepth: Strengthened Pose Information for Self...	2024-04-18	Code
2	UniK3D (FT, metric)	0.037	No	UniK3D: Universal Camera Monocular 3D Estimation	2025-03-20	Code
3	UniDepthV2 (FT, metric)	0.037	Yes	UniDepthV2: Universal Monocular Metric Depth Est...	2025-02-27	Code
4	Metric3Dv2 (g2, FT, 80m, flip_aug_test)	0.039	Yes	Metric3Dv2: A Versatile Monocular Geometric Foun...	2024-03-22	Code
5	LightedDepth (Video Method)	0.041	No	-	-	Code
6	FutureDepth	0.041	No	FutureDepth: Learning to Predict the Future Impr...	2024-03-19	-
7	UniDepth (Zero-shot)	0.042	Yes	UniDepth: Universal Monocular Metric Depth Estim...	2024-03-27	Code
8	SQLdepth (ConvNeXt-L)	0.043	No	SQLdepth: Generalizable Self-Supervised Fine-Str...	2023-09-01	Code
9	AFNet	0.044	No	Adaptive Fusion of Single-View and Multi-View De...	2024-03-12	Code
10	Depth Anything	0.046	Yes	Depth Anything: Unleashing the Power of Large-Sc...	2024-01-19	Code
11	MetaPrompt-SD	0.047	Yes	Harnessing Diffusion Models for Visual Perceptio...	2023-12-22	Code
12	ECoDepth	0.048	No	ECoDepth: Effective Conditioning of Diffusion Mo...	2024-03-27	Code
13	ScaleDepth-K	0.048	No	ScaleDepth: Decomposing Metric Depth Estimation ...	2024-07-11	Code
14	EVP	0.048	No	EVP: Enhanced Visual Perception using Inverse Mu...	2023-12-13	Code
15	GEDepth	0.048	No	GEDepth: Ground Embedding for Monocular Depth Es...	2023-09-18	Code
16	MAMo	0.049	No	MAMo: Leveraging Memory and Attention for Monocu...	2023-07-26	-
17	SwinV2-L 1K-MIM	0.05	No	Revealing the Dark Secrets of Masked Image Model...	2022-05-26	Code
18	IEBins	0.05	No	IEBins: Iterative Elastic Bins for Monocular Dep...	2023-09-25	Code
19	NDDepth	0.05	No	NDDepth: Normal-Distance Assisted Monocular Dept...	2023-09-19	Code
20	URCDC-Depth	0.05	No	URCDC-Depth: Uncertainty Rectified Cross-Distill...	2023-02-16	Code
21	iDisc	0.05	No	iDisc: Internal Discretization for Monocular Dep...	2023-04-13	Code
22	DDP (Swin-L, step-3)	0.05	No	DDP: Diffusion Model for Dense Visual Prediction	2023-03-30	Code
23	MIM-Swin-V2	0.0508	No	Analysis of NaN Divergence in Training Monocular...	2023-11-07	-
24	PixelFormer	0.051	Yes	Attention Attention Everywhere: Monocular Depth ...	2022-10-17	Code
25	SwinV2-B 1K-MIM	0.052	No	Revealing the Dark Secrets of Masked Image Model...	2022-05-26	Code
26	BinsFormer	0.052	Yes	BinsFormer: Revisiting Adaptive Bins for Monocul...	2022-04-03	Code
27	NeWCRFs	0.052	Yes	NeW CRFs: Neural Window Fully-connected CRFs for...	2022-03-03	Code
28	DepthFormer	0.052	Yes	DepthFormer: Exploiting Long-Range Correlation a...	2022-03-27	Code
29	MonoDELSNet	0.053	No	Monocular Depth Estimation through Virtual-world...	2021-03-22	Code
30	SfM-Revisited	0.055	No	Deep Two-View Structure-from-Motion Revisited	2021-04-01	Code
31	D-Net	0.056	No	-	-	Code
32	GLPDepth	0.057	No	Global-Local Path Networks for Monocular Depth E...	2022-01-19	Code
33	NVS-MonoDepth	0.057	No	NVS-MonoDepth: Improving Monocular Depth Predict...	2021-12-22	-
34	Depthformer	0.058	Yes	Depthformer : Multiscale Vision Transformer For ...	2022-07-10	Code
35	AdaBins	0.058	Yes	AdaBins: Depth Estimation using Adaptive Bins	2020-11-28	Code
36	Metric3D (zero-shot)	0.058	No	Metric3D: Towards Zero-shot Metric 3D Prediction...	2023-07-20	Code
37	LapDepth	0.059	No	-	-	Code
38	DPT-Hybrid	0.062	No	Vision Transformers for Dense Prediction	2021-03-24	Code
39	BTS	0.064	No	From Big to Small: Multi-Scale Local Planar Guid...	2019-07-24	Code
40	DINOv2 (ViT-g/14 frozen, w/ DPT decoder)	0.0652	No	DINOv2: Learning Robust Visual Features without ...	2023-04-14	Code
41	LightDepth	0.07	No	LightDepth: A Resource Efficient Depth Estimatio...	2022-11-16	Code
42	DORN	0.072	No	Deep Ordinal Regression Network for Monocular De...	2018-06-06	Code
43	VNL	0.072	No	Enforcing geometric constraints of virtual norma...	2019-07-29	Code
44	PrimeDepth + Depth Anything	0.073	No	PrimeDepth: Efficient Monocular Depth Estimation...	2024-09-13	Code
45	DSN	0.075	No	On Deep Learning Techniques to Boost Monocular D...	2020-10-13	-
46	PrimeDepth	0.079	No	PrimeDepth: Efficient Monocular Depth Estimation...	2024-09-13	Code
47	Focal-WNet	0.082	No	-	-	Code
48	DepthMaster	0.082	Yes	DepthMaster: Taming Diffusion Models for Monocul...	2025-01-05	Code
49	Manydepth2	0.091	No	Manydepth2: Motion-Aware Self-Supervised Multi-F...	2023-12-23	Code
50	VOMonodepth	0.091	No	Enhancing self-supervised monocular depth estima...	2019-08-08	-
51	DenseDepth	0.093	No	High Quality Monocular Depth Estimation via Tran...	2018-12-31	Code
52	SVS	0.094	No	Single View Stereo Matching	2018-03-07	Code
53	monoResMatch	0.096	No	Learning monocular depth estimation infusing tra...	2019-04-08	Code
54	SemiDepth	0.096	No	Semi-Supervised Monocular Depth Estimation with ...	2019-05-18	Code
55	CFA	0.096	No	Monocular Depth Estimation by Learning from Hete...	2018-03-21	-
56	Depth Hints	0.096	No	Self-Supervised Monocular Depth Hints	2019-09-19	Code
57	SOM	0.097	No	Structure-Attentioned Memory Network for Monocul...	2019-09-10	-
58	Marigold	0.099	Yes	Repurposing Diffusion-Based Image Generators for...	2023-12-04	Code
59	GCNDepth	0.104	No	GCNDepth: Self-supervised Monocular Depth Estima...	2021-12-13	Code
60	monodepth2 M	0.106	Yes	Digging Into Self-Supervised Monocular Depth Est...	2018-06-04	Code
61	DeepLabV3+ (F10)	0.11	No	Single Image Depth Estimation Trained via Depth ...	2020-01-14	Code
62	DiPE	0.112	No	DiPE: Deeper into Photometric Errors for Unsuper...	2020-03-03	Code
63	DNet	0.113	No	Toward Hierarchical Self-Supervised Monocular Ab...	2020-04-12	Code
64	LSIM	0.113	No	Learn Stereo, Infer Mono: Siamese Networks for S...	2019-05-01	Code
65	SC-Depth (ResNet 50)	0.114	No	Unsupervised Scale-consistent Depth Learning fro...	2021-05-25	Code
66	SemanticAware	0.118	No	-	-	-
67	SC-Depth (ResNet18)	0.119	No	Unsupervised Scale-consistent Depth Learning fro...	2021-05-25	Code
68	PackNet-SfM	0.12	No	3D Packing for Self-Supervised Monocular Depth E...	2019-05-06	Code
69	3Net	0.126	No	Learning monocular depth estimation with unsuper...	2018-08-05	Code
70	SC-SfMLearner_CS+K	0.128	No	Unsupervised Scale-consistent Depth and Ego-moti...	2019-08-28	Code
71	SelfDepthNorm	0.133	No	Self-supervised Learning for Single View Depth a...	2019-03-01	-
72	SIGNet	0.133	No	SIGNet: Semantic Instance Aided Unsupervised 3D ...	2018-12-13	Code
73	struct2depth	0.135	No	Depth Prediction Without the Sensors: Leveraging...	2018-11-15	Code
74	SC-SfMLearner	0.137	No	Unsupervised Scale-consistent Depth and Ego-moti...	2019-08-28	Code
75	CC	0.14	No	Competitive Collaboration: Joint Unsupervised Le...	2018-05-24	Code
76	SIW	0.14	No	Scaling up Multi-domain Semantic Segmentation wi...	2022-02-04	-
77	LeReS	0.149	No	Learning to Recover 3D Scene Shape from a Single...	2020-12-17	Code
78	GASDA	0.149	No	Geometry-Aware Symmetric Domain Adaptation for M...	2019-04-03	Code
79	VDA	0.193	No	Veritatem Dies Aperit- Temporally Consistent Dep...	2019-03-26	Code