Browse › Computer Vision › Monocular Depth Estimation › KITTI Eigen split unsupervised
KITTI Eigen split unsupervised Benchmark (Monocular Depth Estimation)
Monocular Depth Estimation is the task of estimating the depth value (distance relative to the camera) of each pixel given a single (monocular) RGB image. This challenging task is a key prerequisite for determining scene understanding for applications such as 3D scene reconstruction, autonomous driving, and AR. State-of-the-art methods usually fall into one of two categories: designing a complex network that is powerful enough to directly regress the depth map, or splitting the input into bins or windows to reduce computational complexity. The most popular benchmarks are the KITTI and NYUv2 datasets. Models are typically evaluated using RMSE or absolute relative error.
The archive carries no text for this table; the description above is the archive's text for the task Monocular Depth Estimation. archive 2025-07-28
Over time archive 2025-07-28
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Direction inferred from the metric name, not from the archive: absolute relative error (lower is better), RMSE (lower is better), RMSE log (lower is better). Not inferred (points only, no best-so-far line): Sq Rel, Delta < 1.25, Delta < 1.25^2, Delta < 1.25^3, Resolution, Mono, Test frames. Points are placed at the row's paper date; 55 of 55 rows carry one.
Results archive 2025-07-28
Archive rows end at the archive snapshot, 2025-07-28: no result published after that date is in this table. Rank is the archive's row order at that snapshot; not re-ranked here. Metric values are the archive's strings. Column headers sort the table in your browser; each row keeps its archive rank.
| Paper | Code | Ran Syntology | Report | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 1 | SPIdepth | 0.071 | 3.662 | 0.153 | 0.531 | 0.94 | 0.973 | 0.985 | 1024x320 | X | 1 | – | Paper | Code | 2024 | 13 of 14 ran · 1 unverified | report |
| 2 | PlaneDepth (S + 1280x384) | 0.084 | 3.981 | 0.169 | 0.549 | 0.911 | 0.968 | 0.984 | 1280x384 | X | – | Paper | Code | 2022 | linked, not harvested | report | |
| 3 | ProDepth | 0.086 | 4.139 | 0.166 | 0.629 | 0.918 | 0.969 | 0.984 | 640x192 | O | 2(-1,0) | – | Paper | Code | 2024 | linked, not harvested | report |
| 4 | Jasmine | 0.09 | 3.944 | 0.161 | 0.581 | 0.919 | 0.972 | 0.986 | 1024x320 | O | – | Paper | – | 2025 | no code linked | report | |
| 5 | SCIPaD | 0.090 | 4.056 | 0.166 | 0.650 | 0.918 | 0.970 | 0.985 | 640x192 | – | Paper | Code | 2024 | linked, not harvested | report | ||
| 6 | DCPI-Depth (M+1024x320) | 0.090 | 4.113 | 0.167 | 0.655 | 0.914 | 0.969 | 0.985 | O | – | Paper | – | 2024 | no code linked | report | ||
| 7 | EPCDepth(S+1024x320) | 0.091 | 4.207 | 0.176 | 0.646 | 0.901 | 0.966 | 0.983 | 1024x320 | X | – | Paper | Code | 2021 | 1 of 2 ran · 1 unverified | report | |
| 8 | Manydepth2(M+640x192) | 0.091 | 4.232 | 0.170 | 0.649 | 0.909 | 0.968 | 0.984 | 640x192 | O | – | Paper | Code | 2023 | 0 of 9 ran · 9 unverified | report | |
| 9 | NimbleD-LiteMono-8M | 0.092 | 4.194 | 0.165 | 0.646 | 0.910 | 0.970 | 0.986 | 640x192 | O | – | Paper | Code | 2024 | linked, not harvested | report | |
| 10 | MonoViT(MS+1024x320) | 0.093 | 4.202 | 0.169 | 0.671 | 0.912 | 0.969 | 0.985 | 1024x320 | X | – | Paper | Code | 2022 | 6 of 6 ran · 0 unverified | report | |
| 11 | Manydepth2-NF(M+640x192) | 0.094 | 4.246 | 0.170 | 0.676 | 0.909 | 0.968 | 0.985 | 640x192 | O | – | Paper | Code | 2023 | 0 of 9 ran · 9 unverified | report | |
| 12 | DIFFNet (MS+1024x320) | 0.094 | 4.250 | 0.172 | 0.678 | 0.911 | 0.968 | 0.984 | X | – | Paper | Code | 2021 | linked, not harvested | report | ||
| 13 | DCPI-Depth (M+640x192) | 0.095 | 4.274 | 0.170 | 0.662 | 0.902 | 0.967 | 0.985 | – | Paper | – | 2024 | no code linked | report | |||
| 14 | TransDSSL | 0.095 | 4.321 | 0.172 | 0.711 | 0.906 | 0.967 | 0.984 | O | – | Paper | Code | 2022 | linked, not harvested | report | ||
| 15 | DS-Depth | 0.095 | 4.329 | 0.173 | 0.698 | 0.905 | 0.966 | 0.984 | – | Paper | Code | 2023 | linked, not harvested | report | |||
| 16 | ProDepth(M+640x192) | 0.095 | 4.345 | 0.172 | 0.693 | 0.902 | 0.967 | 0.985 | 640x192 | O | – | Paper | Code | 2024 | linked, not harvested | report | |
| 17 | CADepth-Net (MS+1024x320) | 0.096 | 4.264 | 0.173 | 0.694 | – | Paper | Code | 2021 | 2 of 2 ran · 0 unverified | report | ||||||
| 18 | NimbleD-LiteMono | 0.096 | 4.304 | 0.171 | 0.684 | 0.903 | 0.969 | 0.986 | 640x192 | O | – | Paper | Code | 2024 | linked, not harvested | report | |
| 19 | Nimbled-SwiftDepth | 0.096 | 4.333 | 0.171 | 0.697 | 0.905 | 0.969 | 0.986 | 640x192 | O | – | Paper | Code | 2024 | linked, not harvested | report | |
| 20 | DynamicDepth (M+640x192) | 0.096 | 4.458 | 0.175 | 0.720 | 0.897 | 0.964 | 0.984 | X | – | Paper | Code | 2022 | 2 of 3 ran · 1 unverified | report | ||
| 21 | Nimbled-MD2-R50 | 0.097 | 4.377 | 0.172 | 0.721 | 0.904 | 0.968 | 0.985 | 640x192 | O | – | Paper | Code | 2024 | linked, not harvested | report | |
| 22 | SCIPaD(M+640x192) | 0.098 | 4.391 | 0.175 | 0.732 | 0.897 | 0.964 | 0.983 | 640x192 | O | – | Paper | Code | 2024 | linked, not harvested | report | |
| 23 | Nimbled-SwiftDepth-S | 0.098 | 4.401 | 0.174 | 0.733 | 0.901 | 0.968 | 0.985 | 640x192 | O | – | Paper | Code | 2024 | linked, not harvested | report | |
| 24 | CREMono(M + 1024x320 + Res50) | 0.099 | 4.165 | 0.171 | 0.624 | 0.902 | 0.969 | 0.986 | – | Paper | – | 2022 | no code linked | report | |||
| 25 | NimbleD-LiteMono-S | 0.099 | 4.370 | 0.172 | 0.709 | 0.898 | 0.967 | 0.986 | 640x192 | O | – | Paper | Code | 2024 | linked, not harvested | report | |
| 26 | FeatDepth-MS | 0.099 | 4.427 | 0.184 | 0.697 | 0.889 | 0.963 | 0.982 | – | Paper | Code | 2020 | linked, not harvested | report | |||
| 27 | VTDepthB2 (stereo supervision) | 0.099 | 4.439 | 0.178 | 0.743 | 0.904 | 0.965 | 0.983 | – | Paper | Code | 2022 | linked, not harvested | report | |||
| 28 | EPCDepth(S+640x192) | 0.099 | 4.490 | 0.183 | 0.754 | 0.888 | 0.963 | 0.982 | – | Paper | Code | 2021 | 1 of 2 ran · 1 unverified | report | |||
| 29 | Nimbled-MD2-R18 | 0.100 | 4.440 | 0.175 | 0.739 | 0.898 | 0.967 | 0.985 | 640x192 | O | – | Paper | Code | 2024 | linked, not harvested | report | |
| 30 | MonoDEVSNet | 0.101 | 4.413 | 0.703 | 0.882 | 0.962 | – | Paper | Code | 2021 | linked, not harvested | report | |||||
| 31 | HR-Depth-MS-1024X320 | 0.101 | – | Paper | Code | 2020 | 1 of 1 ran · 0 unverified | report | |||||||||
| 32 | X-Distill (M+1024x320) | 0.102 | 4.439 | 0.180 | 0.698 | 0.895 | 0.965 | 0.983 | – | Paper | – | 2021 | no code linked | report | |||
| 33 | CamLessMonoDepth-1024x320 | 0.102 | – | Paper | – | 2021 | no code linked | report | |||||||||
| 34 | GCNDepth | 0.104 | 4.494 | 0.181 | 0.720 | – | Paper | Code | 2021 | linked, not harvested | report | ||||||
| 35 | FeatDepth-M | 0.104 | – | Paper | Code | 2020 | linked, not harvested | report | |||||||||
| 36 | HR-Depth-M-1280x384 | 0.104 | – | Paper | Code | 2020 | 1 of 1 ran · 0 unverified | report | |||||||||
| 37 | Lite-HR-Depth-T-1280x384 | 0.104 | – | Paper | Code | 2020 | 1 of 1 ran · 0 unverified | report | |||||||||
| 38 | MonoFormer | 0.104 | 640x192 | O | – | Paper | Code | 2022 | linked, not harvested | report | |||||||
| 39 | VTDepthB2 (monocular supervision) | 0.105 | 4.530 | 0.182 | 0.762 | 0.893 | 0.964 | 0.983 | – | Paper | Code | 2022 | linked, not harvested | report | |||
| 40 | CamLessMonoDepth (V1)-640x192 | 0.105 | – | Paper | – | 2021 | no code linked | report | |||||||||
| 41 | Monodepth2 MS | 0.106 | – | Paper | Code | 2019 | linked, not harvested | report | |||||||||
| 42 | CamLessMonoDepth (V2)-640x192 | 0.106 | – | Paper | – | 2021 | no code linked | report | |||||||||
| 43 | PackNet-SfM M | 0.107 | – | Paper | Code | 2019 | linked, not harvested | report | |||||||||
| 44 | SharinGAN | 0.109 | 3.77 | 0.19 | 0.673 | 0.864 | 0.954 | 0.981 | – | Paper | Code | 2020 | linked, not harvested | report | |||
| 45 | DCPI-Depth (M+832x256+SC-V3) | 0.109 | 4.496 | 0.679 | – | Paper | – | 2024 | no code linked | report | |||||||
| 46 | Monodepth2 S | 0.109 | – | Paper | Code | 2019 | linked, not harvested | report | |||||||||
| 47 | HR-Depth-M-640x192 | 0.109 | – | Paper | Code | 2020 | 1 of 1 ran · 0 unverified | report | |||||||||
| 48 | G2S (MD2-M-R18-pp-640 x 192) | 0.109 | – | Paper | Code | 2021 | linked, not harvested | report | |||||||||
| 49 | SuperDepth S | 0.112 | – | Paper | – | 2018 | no code linked | report | |||||||||
| 50 | Occlusion_mask_640x192 | 0.113 | – | Paper | Code | 2019 | linked, not harvested | report | |||||||||
| 51 | pc4consistentdepth | 0.113 | – | Paper | Code | 2023 | linked, not harvested | report | |||||||||
| 52 | Dyna-DM | 0.115 | 4.698 | 0.192 | 0.785 | 0.871 | 0.959 | 0.982 | – | Paper | Code | 2022 | 1 of 1 ran · 0 unverified | report | |||
| 53 | Monodepth2 M | 0.115 | 1 | – | Paper | Code | 2019 | linked, not harvested | report | ||||||||
| 54 | Monodepth S | 0.133 | – | Paper | Code | 2016 | 3 of 12 ran · 9 unverified | report | |||||||||
| 55 | Struct2Depth M | 0.1412 | – | Paper | – | 2019 | no code linked | report |
All 55 rows shown. 55 link to a paper page on this site; 0 are marked as using additional training data in the archive. No GitHub stars are tracked; "Code" is the first repository the archive lists for the row. The archive carries no row tags, review links or community-submitted rows for this table; none are shown. archive 2025-07-28
Syntology Ran reads "N of M ran · U unverified": of the M code samples Syntology harvested from repositories linked to that row's paper (joined by arXiv id), N executed on a synthesized input and the other U = M−N are unverified (harvested, no recorded run). It counts code from repositories linked to that row's paper, not this result: the row's number was not reproduced and nothing here is a correctness claim. The other cell texts mean no graph line for the row: "linked, not harvested" (the archive links code, Syntology has not harvested it), "no code linked" (no code link in the archive), "not matched" (the row's paper URL matched no paper on this site). 14 rows have a graph line, from 9 distinct papers; 12 rows (8 papers) have at least one sample that ran. Counting each paper once: Syntology ran 29 of 50 samples; 21 unverified. Separately, 11 of those 50 are pointer-only (licence): the site points at that code rather than redistributing it, a licence property recorded for ran and unverified samples alike; each cell's tooltip carries the row's own pointer-only count. Read from the graph 2026-09-24. Per-sample status is on the paper page.
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