3D on KITTI Eigen split

Metric: RMSE log (lower is better)

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#	Model↕	RMSE log▲	Augmentations	Paper	Date↕	Code
1	SPIDepth	0.048	Yes	SPIdepth: Strengthened Pose Information for Self...	2024-04-18	Code
2	LightedDepth (Video Method)	0.059	No	-	-	Code
3	UniK3D (FT, metric)	0.06	No	UniK3D: Universal Camera Monocular 3D Estimation	2025-03-20	Code
4	Metric3Dv2 (g2, FT, 80m, flip_aug_test)	0.06	Yes	Metric3Dv2: A Versatile Monocular Geometric Foun...	2024-03-22	Code
5	UniDepthV2 (FT, metric)	0.061	Yes	UniDepthV2: Universal Monocular Metric Depth Est...	2025-02-27	Code
6	UniDepth (Zero-shot)	0.064	Yes	UniDepth: Universal Monocular Metric Depth Estim...	2024-03-27	Code
7	SQLdepth (ConvNeXt-L)	0.064	No	SQLdepth: Generalizable Self-Supervised Fine-Str...	2023-09-01	Code
8	FutureDepth	0.066	No	FutureDepth: Learning to Predict the Future Impr...	2024-03-19	-
9	AFNet	0.069	No	Adaptive Fusion of Single-View and Multi-View De...	2024-03-12	Code
10	Depth Anything	0.069	Yes	Depth Anything: Unleashing the Power of Large-Sc...	2024-01-19	Code
11	MetaPrompt-SD	0.071	Yes	Harnessing Diffusion Models for Visual Perceptio...	2023-12-22	Code
12	MAMo	0.072	No	MAMo: Leveraging Memory and Attention for Monocu...	2023-07-26	-
13	ScaleDepth-K	0.073	No	ScaleDepth: Decomposing Metric Depth Estimation ...	2024-07-11	Code
14	EVP	0.073	No	EVP: Enhanced Visual Perception using Inverse Mu...	2023-12-13	Code
15	ECoDepth	0.074	No	ECoDepth: Effective Conditioning of Diffusion Mo...	2024-03-27	Code
16	SwinV2-L 1K-MIM	0.075	No	Revealing the Dark Secrets of Masked Image Model...	2022-05-26	Code
17	IEBins	0.075	No	IEBins: Iterative Elastic Bins for Monocular Dep...	2023-09-25	Code
18	NDDepth	0.075	No	NDDepth: Normal-Distance Assisted Monocular Dept...	2023-09-19	Code
19	GEDepth	0.076	No	GEDepth: Ground Embedding for Monocular Depth Es...	2023-09-18	Code
20	URCDC-Depth	0.076	No	URCDC-Depth: Uncertainty Rectified Cross-Distill...	2023-02-16	Code
21	DDP (Swin-L, step-3)	0.076	No	DDP: Diffusion Model for Dense Visual Prediction	2023-03-30	Code
22	iDisc	0.077	No	iDisc: Internal Discretization for Monocular Dep...	2023-04-13	Code
23	MIM-Swin-V2	0.077	No	Analysis of NaN Divergence in Training Monocular...	2023-11-07	-
24	PixelFormer	0.077	Yes	Attention Attention Everywhere: Monocular Depth ...	2022-10-17	Code
25	SwinV2-B 1K-MIM	0.078	No	Revealing the Dark Secrets of Masked Image Model...	2022-05-26	Code
26	BinsFormer	0.079	Yes	BinsFormer: Revisiting Adaptive Bins for Monocul...	2022-04-03	Code
27	NeWCRFs	0.079	Yes	NeW CRFs: Neural Window Fully-connected CRFs for...	2022-03-03	Code
28	DepthFormer	0.079	Yes	DepthFormer: Exploiting Long-Range Correlation a...	2022-03-27	Code
29	MonoDELSNet	0.082	No	Monocular Depth Estimation through Virtual-world...	2021-03-22	Code
30	GLPDepth	0.086	No	Global-Local Path Networks for Monocular Depth E...	2022-01-19	Code
31	D-Net	0.087	No	-	-	Code
32	Depthformer	0.087	Yes	Depthformer : Multiscale Vision Transformer For ...	2022-07-10	Code
33	AdaBins	0.088	Yes	AdaBins: Depth Estimation using Adaptive Bins	2020-11-28	Code
34	DINOv2 (ViT-g/14 frozen, w/ DPT decoder)	0.0882	No	DINOv2: Learning Robust Visual Features without ...	2023-04-14	Code
35	LapDepth	0.091	No	-	-	Code
36	DPT-Hybrid	0.092	No	Vision Transformers for Dense Prediction	2021-03-24	Code
37	DORN	0.12	No	Deep Ordinal Regression Network for Monocular De...	2018-06-06	Code
38	Focal-WNet	0.12	No	-	-	Code
39	Marigold	0.138	Yes	Repurposing Diffusion-Based Image Generators for...	2023-12-04	Code
40	GCNDepth	0.181	No	GCNDepth: Self-supervised Monocular Depth Estima...	2021-12-13	Code
41	DNet	0.191	No	Toward Hierarchical Self-Supervised Monocular Ab...	2020-04-12	Code
42	SC-Depth (ResNet 50)	0.191	No	Unsupervised Scale-consistent Depth Learning fro...	2021-05-25	Code
43	SC-Depth (ResNet18)	0.197	No	Unsupervised Scale-consistent Depth Learning fro...	2021-05-25	Code
44	Manydepth2	0.649	No	Manydepth2: Motion-Aware Self-Supervised Multi-F...	2023-12-23	Code

#1SPIDepthSOTA
0.048
RMSE log· Augmentations· 2024-04-18
SPIdepth: Strengthened Pose Information for Self-supervised Monocular Depth Estimation Code
#2LightedDepth (Video Method)
0.059
RMSE log
No paperCode
#3UniK3D (FT, metric)
0.06
RMSE log· 2025-03-20
UniK3D: Universal Camera Monocular 3D Estimation Code
#4Metric3Dv2 (g2, FT, 80m, flip_aug_test)SOTA
0.06
RMSE log· Augmentations· 2024-03-22
Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimation Code
#5UniDepthV2 (FT, metric)
0.061
RMSE log· Augmentations· 2025-02-27
UniDepthV2: Universal Monocular Metric Depth Estimation Made Simpler Code
#6UniDepth (Zero-shot)
0.064
RMSE log· Augmentations· 2024-03-27
UniDepth: Universal Monocular Metric Depth Estimation Code
#7SQLdepth (ConvNeXt-L)SOTA
0.064
RMSE log· 2023-09-01
SQLdepth: Generalizable Self-Supervised Fine-Structured Monocular Depth Estimation Code
#8FutureDepth
0.066
RMSE log· 2024-03-19
FutureDepth: Learning to Predict the Future Improves Video Depth Estimation
#9AFNet
0.069
RMSE log· 2024-03-12
Adaptive Fusion of Single-View and Multi-View Depth for Autonomous Driving Code
#10Depth Anything
0.069
RMSE log· Augmentations· 2024-01-19
Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data Code
#11MetaPrompt-SD
0.071
RMSE log· Augmentations· 2023-12-22
Harnessing Diffusion Models for Visual Perception with Meta Prompts Code
#12MAMoSOTA
0.072
RMSE log· 2023-07-26
MAMo: Leveraging Memory and Attention for Monocular Video Depth Estimation
#13ScaleDepth-K
0.073
RMSE log· 2024-07-11
ScaleDepth: Decomposing Metric Depth Estimation into Scale Prediction and Relative Depth Estimation Code
#14EVP
0.073
RMSE log· 2023-12-13
EVP: Enhanced Visual Perception using Inverse Multi-Attentive Feature Refinement and Regularized Image-Text Alignment Code
#15ECoDepth
0.074
RMSE log· 2024-03-27
ECoDepth: Effective Conditioning of Diffusion Models for Monocular Depth Estimation Code
#16SwinV2-L 1K-MIMSOTA
0.075
RMSE log· 2022-05-26
Revealing the Dark Secrets of Masked Image Modeling Code
#17IEBins
0.075
RMSE log· 2023-09-25
IEBins: Iterative Elastic Bins for Monocular Depth Estimation Code
#18NDDepth
0.075
RMSE log· 2023-09-19
NDDepth: Normal-Distance Assisted Monocular Depth Estimation Code
#19GEDepth
0.076
RMSE log· 2023-09-18
GEDepth: Ground Embedding for Monocular Depth Estimation Code
#20URCDC-Depth
0.076
RMSE log· 2023-02-16
URCDC-Depth: Uncertainty Rectified Cross-Distillation with CutFlip for Monocular Depth Estimation Code
#21DDP (Swin-L, step-3)
0.076
RMSE log· 2023-03-30
DDP: Diffusion Model for Dense Visual Prediction Code
#22iDisc
0.077
RMSE log· 2023-04-13
iDisc: Internal Discretization for Monocular Depth Estimation Code
#23MIM-Swin-V2
0.077
RMSE log· 2023-11-07
Analysis of NaN Divergence in Training Monocular Depth Estimation Model
#24PixelFormer
0.077
RMSE log· Augmentations· 2022-10-17
Attention Attention Everywhere: Monocular Depth Prediction with Skip Attention Code
#25SwinV2-B 1K-MIMSOTA
0.078
RMSE log· 2022-05-26
Revealing the Dark Secrets of Masked Image Modeling Code
#26BinsFormer
0.079
RMSE log· Augmentations· 2022-04-03
BinsFormer: Revisiting Adaptive Bins for Monocular Depth Estimation Code
#27NeWCRFsSOTA
0.079
RMSE log· Augmentations· 2022-03-03
NeW CRFs: Neural Window Fully-connected CRFs for Monocular Depth Estimation Code
#28DepthFormer
0.079
RMSE log· Augmentations· 2022-03-27
DepthFormer: Exploiting Long-Range Correlation and Local Information for Accurate Monocular Depth Estimation Code
#29MonoDELSNetSOTA
0.082
RMSE log· 2021-03-22
Monocular Depth Estimation through Virtual-world Supervision and Real-world SfM Self-Supervision Code
#30GLPDepth
0.086
RMSE log· 2022-01-19
Global-Local Path Networks for Monocular Depth Estimation with Vertical CutDepth Code
#31D-Net
0.087
RMSE log
No paperCode
#32Depthformer
0.087
RMSE log· Augmentations· 2022-07-10
Depthformer : Multiscale Vision Transformer For Monocular Depth Estimation With Local Global Information Fusion Code
#33AdaBinsSOTA
0.088
RMSE log· Augmentations· 2020-11-28
AdaBins: Depth Estimation using Adaptive Bins Code
#34DINOv2 (ViT-g/14 frozen, w/ DPT decoder)
0.0882
RMSE log· 2023-04-14
DINOv2: Learning Robust Visual Features without Supervision Code
#35LapDepth
0.091
RMSE log
No paperCode
#36DPT-Hybrid
0.092
RMSE log· 2021-03-24
Vision Transformers for Dense Prediction Code
#37DORNSOTA
0.12
RMSE log· 2018-06-06
Deep Ordinal Regression Network for Monocular Depth Estimation Code
#38Focal-WNet
0.12
RMSE log
No paperCode
#39Marigold
0.138
RMSE log· Augmentations· 2023-12-04
Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation Code
#40GCNDepth
0.181
RMSE log· 2021-12-13
GCNDepth: Self-supervised Monocular Depth Estimation based on Graph Convolutional Network Code
#41DNet
0.191
RMSE log· 2020-04-12
Toward Hierarchical Self-Supervised Monocular Absolute Depth Estimation for Autonomous Driving Applications Code
#42SC-Depth (ResNet 50)
0.191
RMSE log· 2021-05-25
Unsupervised Scale-consistent Depth Learning from Video Code
#43SC-Depth (ResNet18)
0.197
RMSE log· 2021-05-25
Unsupervised Scale-consistent Depth Learning from Video Code
#44Manydepth2
0.649
RMSE log· 2023-12-23
Manydepth2: Motion-Aware Self-Supervised Multi-Frame Monocular Depth Estimation in Dynamic Scenes Code