3D on KITTI Eigen split

Metric: Delta < 1.25 (higher is better)

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#	Model↕	Delta < 1.25▼	Augmentations	Paper	Date↕	Code
1	SPIDepth	0.99	Yes	SPIdepth: Strengthened Pose Information for Self...	2024-04-18	Code
2	UniK3D (FT, metric)	0.99	No	UniK3D: Universal Camera Monocular 3D Estimation	2025-03-20	Code
3	UniDepthV2 (FT, metric)	0.989	Yes	UniDepthV2: Universal Monocular Metric Depth Est...	2025-02-27	Code
4	Metric3Dv2 (g2, FT, 80m, flip_aug_test)	0.989	Yes	Metric3Dv2: A Versatile Monocular Geometric Foun...	2024-03-22	Code
5	LightedDepth (Video Method)	0.989	No	-	-	Code
6	UniDepth (Zero-shot)	0.986	Yes	UniDepth: Universal Monocular Metric Depth Estim...	2024-03-27	Code
7	FutureDepth	0.984	No	FutureDepth: Learning to Predict the Future Impr...	2024-03-19	-
8	SQLdepth (ConvNeXt-L)	0.983	No	SQLdepth: Generalizable Self-Supervised Fine-Str...	2023-09-01	Code
9	Depth Anything	0.982	Yes	Depth Anything: Unleashing the Power of Large-Sc...	2024-01-19	Code
10	MetaPrompt-SD	0.981	Yes	Harnessing Diffusion Models for Visual Perceptio...	2023-12-22	Code
11	AFNet	0.98	No	Adaptive Fusion of Single-View and Multi-View De...	2024-03-12	Code
12	ScaleDepth-K	0.98	No	ScaleDepth: Decomposing Metric Depth Estimation ...	2024-07-11	Code
13	EVP	0.98	No	EVP: Enhanced Visual Perception using Inverse Mu...	2023-12-13	Code
14	ECoDepth	0.979	No	ECoDepth: Effective Conditioning of Diffusion Mo...	2024-03-27	Code
15	IEBins	0.978	No	IEBins: Iterative Elastic Bins for Monocular Dep...	2023-09-25	Code
16	NDDepth	0.978	No	NDDepth: Normal-Distance Assisted Monocular Dept...	2023-09-19	Code
17	MAMo	0.977	No	MAMo: Leveraging Memory and Attention for Monocu...	2023-07-26	-
18	SwinV2-L 1K-MIM	0.977	No	Revealing the Dark Secrets of Masked Image Model...	2022-05-26	Code
19	URCDC-Depth	0.977	No	URCDC-Depth: Uncertainty Rectified Cross-Distill...	2023-02-16	Code
20	iDisc	0.977	No	iDisc: Internal Discretization for Monocular Dep...	2023-04-13	Code
21	GEDepth	0.9763	No	GEDepth: Ground Embedding for Monocular Depth Es...	2023-09-18	Code
22	PixelFormer	0.976	Yes	Attention Attention Everywhere: Monocular Depth ...	2022-10-17	Code
23	SwinV2-B 1K-MIM	0.976	No	Revealing the Dark Secrets of Masked Image Model...	2022-05-26	Code
24	MIM-Swin-V2	0.9757	No	Analysis of NaN Divergence in Training Monocular...	2023-11-07	-
25	DDP (Swin-L, step-3)	0.975	No	DDP: Diffusion Model for Dense Visual Prediction	2023-03-30	Code
26	DepthFormer	0.975	Yes	DepthFormer: Exploiting Long-Range Correlation a...	2022-03-27	Code
27	BinsFormer	0.974	Yes	BinsFormer: Revisiting Adaptive Bins for Monocul...	2022-04-03	Code
28	NeWCRFs	0.974	Yes	NeW CRFs: Neural Window Fully-connected CRFs for...	2022-03-03	Code
29	MonoDELSNet	0.969	No	Monocular Depth Estimation through Virtual-world...	2021-03-22	Code
30	DINOv2 (ViT-g/14 frozen, w/ DPT decoder)	0.968	No	DINOv2: Learning Robust Visual Features without ...	2023-04-14	Code
31	GLPDepth	0.967	No	Global-Local Path Networks for Monocular Depth E...	2022-01-19	Code
32	Depthformer	0.967	Yes	Depthformer : Multiscale Vision Transformer For ...	2022-07-10	Code
33	Metric3D (zero-shot)	0.967	No	Metric3D: Towards Zero-shot Metric 3D Prediction...	2023-07-20	Code
34	AdaBins	0.964	Yes	AdaBins: Depth Estimation using Adaptive Bins	2020-11-28	Code
35	D-Net	0.963	No	-	-	Code
36	LapDepth	0.962	No	-	-	Code
37	DPT-Hybrid	0.959	No	Vision Transformers for Dense Prediction	2021-03-24	Code
38	PrimeDepth + Depth Anything	0.953	No	PrimeDepth: Efficient Monocular Depth Estimation...	2024-09-13	Code
39	PrimeDepth	0.937	No	PrimeDepth: Efficient Monocular Depth Estimation...	2024-09-13	Code
40	DepthMaster	0.937	Yes	DepthMaster: Taming Diffusion Models for Monocul...	2025-01-05	Code
41	DORN	0.932	No	Deep Ordinal Regression Network for Monocular De...	2018-06-06	Code
42	Focal-WNet	0.926	No	-	-	Code
43	Marigold	0.916	Yes	Repurposing Diffusion-Based Image Generators for...	2023-12-04	Code
44	Manydepth2	0.909	No	Manydepth2: Motion-Aware Self-Supervised Multi-F...	2023-12-23	Code
45	GCNDepth	0.888	No	GCNDepth: Self-supervised Monocular Depth Estima...	2021-12-13	Code
46	DNet	0.877	No	Toward Hierarchical Self-Supervised Monocular Ab...	2020-04-12	Code
47	SC-Depth (ResNet 50)	0.873	No	Unsupervised Scale-consistent Depth Learning fro...	2021-05-25	Code
48	SC-Depth (ResNet18)	0.863	No	Unsupervised Scale-consistent Depth Learning fro...	2021-05-25	Code
49	LeReS	0.784	No	Learning to Recover 3D Scene Shape from a Single...	2020-12-17	Code

#1SPIDepthSOTA
0.99
Delta < 1.25· Augmentations· 2024-04-18
SPIdepth: Strengthened Pose Information for Self-supervised Monocular Depth Estimation Code
#2UniK3D (FT, metric)
0.99
Delta < 1.25· 2025-03-20
UniK3D: Universal Camera Monocular 3D Estimation Code
#3UniDepthV2 (FT, metric)
0.989
Delta < 1.25· Augmentations· 2025-02-27
UniDepthV2: Universal Monocular Metric Depth Estimation Made Simpler Code
#4Metric3Dv2 (g2, FT, 80m, flip_aug_test)SOTA
0.989
Delta < 1.25· Augmentations· 2024-03-22
Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimation Code
#5LightedDepth (Video Method)
0.989
Delta < 1.25
No paperCode
#6UniDepth (Zero-shot)
0.986
Delta < 1.25· Augmentations· 2024-03-27
UniDepth: Universal Monocular Metric Depth Estimation Code
#7FutureDepthSOTA
0.984
Delta < 1.25· 2024-03-19
FutureDepth: Learning to Predict the Future Improves Video Depth Estimation
#8SQLdepth (ConvNeXt-L)SOTA
0.983
Delta < 1.25· 2023-09-01
SQLdepth: Generalizable Self-Supervised Fine-Structured Monocular Depth Estimation Code
#9Depth Anything
0.982
Delta < 1.25· Augmentations· 2024-01-19
Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data Code
#10MetaPrompt-SD
0.981
Delta < 1.25· Augmentations· 2023-12-22
Harnessing Diffusion Models for Visual Perception with Meta Prompts Code
#11AFNet
0.98
Delta < 1.25· 2024-03-12
Adaptive Fusion of Single-View and Multi-View Depth for Autonomous Driving Code
#12ScaleDepth-K
0.98
Delta < 1.25· 2024-07-11
ScaleDepth: Decomposing Metric Depth Estimation into Scale Prediction and Relative Depth Estimation Code
#13EVP
0.98
Delta < 1.25· 2023-12-13
EVP: Enhanced Visual Perception using Inverse Multi-Attentive Feature Refinement and Regularized Image-Text Alignment Code
#14ECoDepth
0.979
Delta < 1.25· 2024-03-27
ECoDepth: Effective Conditioning of Diffusion Models for Monocular Depth Estimation Code
#15IEBins
0.978
Delta < 1.25· 2023-09-25
IEBins: Iterative Elastic Bins for Monocular Depth Estimation Code
#16NDDepth
0.978
Delta < 1.25· 2023-09-19
NDDepth: Normal-Distance Assisted Monocular Depth Estimation Code
#17MAMo
0.977
Delta < 1.25· 2023-07-26
MAMo: Leveraging Memory and Attention for Monocular Video Depth Estimation
#18SwinV2-L 1K-MIMSOTA
0.977
Delta < 1.25· 2022-05-26
Revealing the Dark Secrets of Masked Image Modeling Code
#19URCDC-Depth
0.977
Delta < 1.25· 2023-02-16
URCDC-Depth: Uncertainty Rectified Cross-Distillation with CutFlip for Monocular Depth Estimation Code
#20iDisc
0.977
Delta < 1.25· 2023-04-13
iDisc: Internal Discretization for Monocular Depth Estimation Code
#21GEDepth
0.9763
Delta < 1.25· 2023-09-18
GEDepth: Ground Embedding for Monocular Depth Estimation Code
#22PixelFormer
0.976
Delta < 1.25· Augmentations· 2022-10-17
Attention Attention Everywhere: Monocular Depth Prediction with Skip Attention Code
#23SwinV2-B 1K-MIM
0.976
Delta < 1.25· 2022-05-26
Revealing the Dark Secrets of Masked Image Modeling Code
#24MIM-Swin-V2
0.9757
Delta < 1.25· 2023-11-07
Analysis of NaN Divergence in Training Monocular Depth Estimation Model
#25DDP (Swin-L, step-3)
0.975
Delta < 1.25· 2023-03-30
DDP: Diffusion Model for Dense Visual Prediction Code
#26DepthFormerSOTA
0.975
Delta < 1.25· Augmentations· 2022-03-27
DepthFormer: Exploiting Long-Range Correlation and Local Information for Accurate Monocular Depth Estimation Code
#27BinsFormer
0.974
Delta < 1.25· Augmentations· 2022-04-03
BinsFormer: Revisiting Adaptive Bins for Monocular Depth Estimation Code
#28NeWCRFsSOTA
0.974
Delta < 1.25· Augmentations· 2022-03-03
NeW CRFs: Neural Window Fully-connected CRFs for Monocular Depth Estimation Code
#29MonoDELSNetSOTA
0.969
Delta < 1.25· 2021-03-22
Monocular Depth Estimation through Virtual-world Supervision and Real-world SfM Self-Supervision Code
#30DINOv2 (ViT-g/14 frozen, w/ DPT decoder)
0.968
Delta < 1.25· 2023-04-14
DINOv2: Learning Robust Visual Features without Supervision Code
#31GLPDepth
0.967
Delta < 1.25· 2022-01-19
Global-Local Path Networks for Monocular Depth Estimation with Vertical CutDepth Code
#32Depthformer
0.967
Delta < 1.25· Augmentations· 2022-07-10
Depthformer : Multiscale Vision Transformer For Monocular Depth Estimation With Local Global Information Fusion Code
#33Metric3D (zero-shot)
0.967
Delta < 1.25· 2023-07-20
Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Image Code
#34AdaBinsSOTA
0.964
Delta < 1.25· Augmentations· 2020-11-28
AdaBins: Depth Estimation using Adaptive Bins Code
#35D-Net
0.963
Delta < 1.25
No paperCode
#36LapDepth
0.962
Delta < 1.25
No paperCode
#37DPT-Hybrid
0.959
Delta < 1.25· 2021-03-24
Vision Transformers for Dense Prediction Code
#38PrimeDepth + Depth Anything
0.953
Delta < 1.25· 2024-09-13
PrimeDepth: Efficient Monocular Depth Estimation with a Stable Diffusion Preimage Code
#39PrimeDepth
0.937
Delta < 1.25· 2024-09-13
PrimeDepth: Efficient Monocular Depth Estimation with a Stable Diffusion Preimage Code
#40DepthMaster
0.937
Delta < 1.25· Augmentations· 2025-01-05
DepthMaster: Taming Diffusion Models for Monocular Depth Estimation Code
#41DORNSOTA
0.932
Delta < 1.25· 2018-06-06
Deep Ordinal Regression Network for Monocular Depth Estimation Code
#42Focal-WNet
0.926
Delta < 1.25
No paperCode
#43Marigold
0.916
Delta < 1.25· Augmentations· 2023-12-04
Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation Code
#44Manydepth2
0.909
Delta < 1.25· 2023-12-23
Manydepth2: Motion-Aware Self-Supervised Multi-Frame Monocular Depth Estimation in Dynamic Scenes Code
#45GCNDepth
0.888
Delta < 1.25· 2021-12-13
GCNDepth: Self-supervised Monocular Depth Estimation based on Graph Convolutional Network Code
#46DNet
0.877
Delta < 1.25· 2020-04-12
Toward Hierarchical Self-Supervised Monocular Absolute Depth Estimation for Autonomous Driving Applications Code
#47SC-Depth (ResNet 50)
0.873
Delta < 1.25· 2021-05-25
Unsupervised Scale-consistent Depth Learning from Video Code
#48SC-Depth (ResNet18)
0.863
Delta < 1.25· 2021-05-25
Unsupervised Scale-consistent Depth Learning from Video Code
#49LeReS
0.784
Delta < 1.25· 2020-12-17
Learning to Recover 3D Scene Shape from a Single Image Code