3D on KITTI Eigen split

Metric: RMSE (lower is better)

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#	Model↕	RMSE▲	Augmentations	Paper	Date↕	Code
1	SPIDepth	1.394	Yes	SPIdepth: Strengthened Pose Information for Self...	2024-04-18	Code
2	UniK3D (FT, metric)	1.68	No	UniK3D: Universal Camera Monocular 3D Estimation	2025-03-20	Code
3	SQLdepth (ConvNeXt-L)	1.698	No	SQLdepth: Generalizable Self-Supervised Fine-Str...	2023-09-01	Code
4	UniDepthV2 (FT, metric)	1.71	Yes	UniDepthV2: Universal Monocular Metric Depth Est...	2025-02-27	Code
5	AFNet	1.712	No	Adaptive Fusion of Single-View and Multi-View De...	2024-03-12	Code
6	LightedDepth (Video Method)	1.748	No	-	-	Code
7	UniDepth (Zero-shot)	1.75	Yes	UniDepth: Universal Monocular Metric Depth Estim...	2024-03-27	Code
8	Metric3Dv2 (g2, FT, 80m, flip_aug_test)	1.766	Yes	Metric3Dv2: A Versatile Monocular Geometric Foun...	2024-03-22	Code
9	FutureDepth	1.856	No	FutureDepth: Learning to Predict the Future Impr...	2024-03-19	-
10	Depth Anything	1.896	Yes	Depth Anything: Unleashing the Power of Large-Sc...	2024-01-19	Code
11	MetaPrompt-SD	1.928	Yes	Harnessing Diffusion Models for Visual Perceptio...	2023-12-22	Code
12	ECoDepth	1.966	No	ECoDepth: Effective Conditioning of Diffusion Mo...	2024-03-27	Code
13	SwinV2-L 1K-MIM	1.966	No	Revealing the Dark Secrets of Masked Image Model...	2022-05-26	Code
14	MAMo	1.984	No	MAMo: Leveraging Memory and Attention for Monocu...	2023-07-26	-
15	ScaleDepth-K	1.987	No	ScaleDepth: Decomposing Metric Depth Estimation ...	2024-07-11	Code
16	IEBins	2.011	No	IEBins: Iterative Elastic Bins for Monocular Dep...	2023-09-25	Code
17	EVP	2.015	No	EVP: Enhanced Visual Perception using Inverse Mu...	2023-12-13	Code
18	NDDepth	2.025	No	NDDepth: Normal-Distance Assisted Monocular Dept...	2023-09-19	Code
19	URCDC-Depth	2.032	No	URCDC-Depth: Uncertainty Rectified Cross-Distill...	2023-02-16	Code
20	MIM-Swin-V2	2.0373	No	Analysis of NaN Divergence in Training Monocular...	2023-11-07	-
21	GEDepth	2.044	No	GEDepth: Ground Embedding for Monocular Depth Es...	2023-09-18	Code
22	SwinV2-B 1K-MIM	2.05	No	Revealing the Dark Secrets of Masked Image Model...	2022-05-26	Code
23	iDisc	2.067	No	iDisc: Internal Discretization for Monocular Dep...	2023-04-13	Code
24	DDP (Swin-L, step-3)	2.072	No	DDP: Diffusion Model for Dense Visual Prediction	2023-03-30	Code
25	PixelFormer	2.081	Yes	Attention Attention Everywhere: Monocular Depth ...	2022-10-17	Code
26	BinsFormer	2.098	Yes	BinsFormer: Revisiting Adaptive Bins for Monocul...	2022-04-03	Code
27	MonoDELSNet	2.101	No	Monocular Depth Estimation through Virtual-world...	2021-03-22	Code
28	DINOv2 (ViT-g/14 frozen, w/ DPT decoder)	2.1128	No	DINOv2: Learning Robust Visual Features without ...	2023-04-14	Code
29	NeWCRFs	2.129	Yes	NeW CRFs: Neural Window Fully-connected CRFs for...	2022-03-03	Code
30	DepthFormer	2.143	Yes	DepthFormer: Exploiting Long-Range Correlation a...	2022-03-27	Code
31	SfM-Revisited	2.273	No	Deep Two-View Structure-from-Motion Revisited	2021-04-01	Code
32	Depthformer	2.285	Yes	Depthformer : Multiscale Vision Transformer For ...	2022-07-10	Code
33	GLPDepth	2.297	No	Global-Local Path Networks for Monocular Depth E...	2022-01-19	Code
34	AdaBins	2.36	Yes	AdaBins: Depth Estimation using Adaptive Bins	2020-11-28	Code
35	D-Net	2.362	No	-	-	Code
36	LapDepth	2.446	No	-	-	Code
37	DPT-Hybrid	2.573	No	Vision Transformers for Dense Prediction	2021-03-24	Code
38	NVS-MonoDepth	2.702	No	NVS-MonoDepth: Improving Monocular Depth Predict...	2021-12-22	-
39	DORN	2.727	No	Deep Ordinal Regression Network for Monocular De...	2018-06-06	Code
40	Metric3D (zero-shot)	2.77	No	Metric3D: Towards Zero-shot Metric 3D Prediction...	2023-07-20	Code
41	LightDepth	2.923	No	LightDepth: A Resource Efficient Depth Estimatio...	2022-11-16	Code
42	Focal-WNet	3.076	No	-	-	Code
43	Marigold	3.304	Yes	Repurposing Diffusion-Based Image Generators for...	2023-12-04	Code
44	Manydepth2	4.232	No	Manydepth2: Motion-Aware Self-Supervised Multi-F...	2023-12-23	Code
45	GCNDepth	4.494	No	GCNDepth: Self-supervised Monocular Depth Estima...	2021-12-13	Code
46	SC-Depth (ResNet 50)	4.706	No	Unsupervised Scale-consistent Depth Learning fro...	2021-05-25	Code
47	DNet	4.812	No	Toward Hierarchical Self-Supervised Monocular Ab...	2020-04-12	Code
48	SC-Depth (ResNet18)	4.95	No	Unsupervised Scale-consistent Depth Learning fro...	2021-05-25	Code

#1SPIDepthSOTA
1.394
RMSE· Augmentations· 2024-04-18
SPIdepth: Strengthened Pose Information for Self-supervised Monocular Depth Estimation Code
#2UniK3D (FT, metric)
1.68
RMSE· 2025-03-20
UniK3D: Universal Camera Monocular 3D Estimation Code
#3SQLdepth (ConvNeXt-L)SOTA
1.698
RMSE· 2023-09-01
SQLdepth: Generalizable Self-Supervised Fine-Structured Monocular Depth Estimation Code
#4UniDepthV2 (FT, metric)
1.71
RMSE· Augmentations· 2025-02-27
UniDepthV2: Universal Monocular Metric Depth Estimation Made Simpler Code
#5AFNet
1.712
RMSE· 2024-03-12
Adaptive Fusion of Single-View and Multi-View Depth for Autonomous Driving Code
#6LightedDepth (Video Method)
1.748
RMSE
No paperCode
#7UniDepth (Zero-shot)
1.75
RMSE· Augmentations· 2024-03-27
UniDepth: Universal Monocular Metric Depth Estimation Code
#8Metric3Dv2 (g2, FT, 80m, flip_aug_test)
1.766
RMSE· Augmentations· 2024-03-22
Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimation Code
#9FutureDepth
1.856
RMSE· 2024-03-19
FutureDepth: Learning to Predict the Future Improves Video Depth Estimation
#10Depth Anything
1.896
RMSE· Augmentations· 2024-01-19
Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data Code
#11MetaPrompt-SD
1.928
RMSE· Augmentations· 2023-12-22
Harnessing Diffusion Models for Visual Perception with Meta Prompts Code
#12ECoDepth
1.966
RMSE· 2024-03-27
ECoDepth: Effective Conditioning of Diffusion Models for Monocular Depth Estimation Code
#13SwinV2-L 1K-MIMSOTA
1.966
RMSE· 2022-05-26
Revealing the Dark Secrets of Masked Image Modeling Code
#14MAMo
1.984
RMSE· 2023-07-26
MAMo: Leveraging Memory and Attention for Monocular Video Depth Estimation
#15ScaleDepth-K
1.987
RMSE· 2024-07-11
ScaleDepth: Decomposing Metric Depth Estimation into Scale Prediction and Relative Depth Estimation Code
#16IEBins
2.011
RMSE· 2023-09-25
IEBins: Iterative Elastic Bins for Monocular Depth Estimation Code
#17EVP
2.015
RMSE· 2023-12-13
EVP: Enhanced Visual Perception using Inverse Multi-Attentive Feature Refinement and Regularized Image-Text Alignment Code
#18NDDepth
2.025
RMSE· 2023-09-19
NDDepth: Normal-Distance Assisted Monocular Depth Estimation Code
#19URCDC-Depth
2.032
RMSE· 2023-02-16
URCDC-Depth: Uncertainty Rectified Cross-Distillation with CutFlip for Monocular Depth Estimation Code
#20MIM-Swin-V2
2.0373
RMSE· 2023-11-07
Analysis of NaN Divergence in Training Monocular Depth Estimation Model
#21GEDepth
2.044
RMSE· 2023-09-18
GEDepth: Ground Embedding for Monocular Depth Estimation Code
#22SwinV2-B 1K-MIMSOTA
2.05
RMSE· 2022-05-26
Revealing the Dark Secrets of Masked Image Modeling Code
#23iDisc
2.067
RMSE· 2023-04-13
iDisc: Internal Discretization for Monocular Depth Estimation Code
#24DDP (Swin-L, step-3)
2.072
RMSE· 2023-03-30
DDP: Diffusion Model for Dense Visual Prediction Code
#25PixelFormer
2.081
RMSE· Augmentations· 2022-10-17
Attention Attention Everywhere: Monocular Depth Prediction with Skip Attention Code
#26BinsFormerSOTA
2.098
RMSE· Augmentations· 2022-04-03
BinsFormer: Revisiting Adaptive Bins for Monocular Depth Estimation Code
#27MonoDELSNetSOTA
2.101
RMSE· 2021-03-22
Monocular Depth Estimation through Virtual-world Supervision and Real-world SfM Self-Supervision Code
#28DINOv2 (ViT-g/14 frozen, w/ DPT decoder)
2.1128
RMSE· 2023-04-14
DINOv2: Learning Robust Visual Features without Supervision Code
#29NeWCRFs
2.129
RMSE· Augmentations· 2022-03-03
NeW CRFs: Neural Window Fully-connected CRFs for Monocular Depth Estimation Code
#30DepthFormer
2.143
RMSE· Augmentations· 2022-03-27
DepthFormer: Exploiting Long-Range Correlation and Local Information for Accurate Monocular Depth Estimation Code
#31SfM-Revisited
2.273
RMSE· 2021-04-01
Deep Two-View Structure-from-Motion Revisited Code
#32Depthformer
2.285
RMSE· Augmentations· 2022-07-10
Depthformer : Multiscale Vision Transformer For Monocular Depth Estimation With Local Global Information Fusion Code
#33GLPDepth
2.297
RMSE· 2022-01-19
Global-Local Path Networks for Monocular Depth Estimation with Vertical CutDepth Code
#34AdaBinsSOTA
2.36
RMSE· Augmentations· 2020-11-28
AdaBins: Depth Estimation using Adaptive Bins Code
#35D-Net
2.362
RMSE
No paperCode
#36LapDepth
2.446
RMSE
No paperCode
#37DPT-Hybrid
2.573
RMSE· 2021-03-24
Vision Transformers for Dense Prediction Code
#38NVS-MonoDepth
2.702
RMSE· 2021-12-22
NVS-MonoDepth: Improving Monocular Depth Prediction with Novel View Synthesis
#39DORNSOTA
2.727
RMSE· 2018-06-06
Deep Ordinal Regression Network for Monocular Depth Estimation Code
#40Metric3D (zero-shot)
2.77
RMSE· 2023-07-20
Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Image Code
#41LightDepth
2.923
RMSE· 2022-11-16
LightDepth: A Resource Efficient Depth Estimation Approach for Dealing with Ground Truth Sparsity via Curriculum Learning Code
#42Focal-WNet
3.076
RMSE
No paperCode
#43Marigold
3.304
RMSE· Augmentations· 2023-12-04
Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation Code
#44Manydepth2
4.232
RMSE· 2023-12-23
Manydepth2: Motion-Aware Self-Supervised Multi-Frame Monocular Depth Estimation in Dynamic Scenes Code
#45GCNDepth
4.494
RMSE· 2021-12-13
GCNDepth: Self-supervised Monocular Depth Estimation based on Graph Convolutional Network Code
#46SC-Depth (ResNet 50)
4.706
RMSE· 2021-05-25
Unsupervised Scale-consistent Depth Learning from Video Code
#47DNet
4.812
RMSE· 2020-04-12
Toward Hierarchical Self-Supervised Monocular Absolute Depth Estimation for Autonomous Driving Applications Code
#48SC-Depth (ResNet18)
4.95
RMSE· 2021-05-25
Unsupervised Scale-consistent Depth Learning from Video Code