Table 3 Quantitative evaluation of the NYU depth V2 dataset with various monocular depth estimation methods.

Method	Abs Rel	Log 10	RMSE	δ < 1.25	δ < 1.25²	δ < 1.25³
Method	Low is better			High is better
Eigen et al.⁵	0.215	0.095	0.641	0.611	0.887	0.971
Li et al.⁴⁹	0.232	0.094	0.821	0.621	0.886	0.968
Liu et al.²⁷	0.213	0.087	0.759	0.650	0.906	0.976
Laina et al.²⁶	0.127	0.055	0.569	0.811	0.953	0.988
Xu et al.⁹	0.125	0.057	0.593	0.806	0.952	0.986
Fu et al.²⁹	0.115	0.051	0.509	0.828	0.965	0.992
Lee et al.⁴⁸	0.111	0.048	0.399	0.880	0.977	0.994
Song et al.³⁰	0.110	0.047	0.393	0.885	0.979	0.995
Ours	0.089	0.035	0.406	0.923	0.987	0.995

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