Table 2 Experimental results on the tiny (a), base (b), and large (c) models with the KITTI dataset. Values in bold represent the best results between the baseline and the optimisations applied for that model. The lines highlighted in italic show the best trade-offs between RMSE and inference time considering all models. These points are those values that compose the Pareto frontier.

From: Efficient attention vision transformers for monocular depth estimation on resource-limited hardware

Model	RMSE [m] \(\downarrow\)	\(Abs_{Rel} \downarrow\)	\(\delta _1 \uparrow\)	\(\delta _2 \uparrow\)	\(\delta _3 \uparrow\)	I9X79 [s] \(\downarrow\)	I9X10 [s] \(\downarrow\)	XG38 [s] \(\downarrow\)
(a)
METER	*5.945*	*7.408*	0.287	0.485	0.604	26.16	18.04	8.13
Meta METER	6.065	8.268	*0.312*	*0.506*	*0.617*	*20.87*	*17.95*	*15.38*
Pyra METER	6.048	7.615	0.312	0.502	0.612	23.61	17.87	17.91
MoH METER	6.173	9.508	0.320	0.506	0.615	31.97	20.06	18.75
PXF	2.324	0.060	0.966	0.996	0.999	468.91	256.89	160.90
Meta PXF	4.231	0.125	0.837	0.956	0.987	*394.75*	*193.13*	*126.90*
Meta-Base PXF	4.312	0.126	0.833	0.953	0.987	420.84	209.51	136.83
Base-Meta PXF	2.335	*0.060*	*0.964*	0.995	*0.999*	456.77	236.17	145.98
Pyra PXF	3.150	0.087	0.915	0.984	0.996	482.70	243.56	171.71
Pyra-Base PXF	3.140	0.084	0.916	0.985	0.996	482.27	241.43	158.92
Base-Pyra PXF	2.310	0.060	0.964	0.996	0.999	499.32	259.68	161.13
MoH PXF	3.516	0.095	0.895	0.976	0.994	533.67	275.82	171.57
MoH-Base PXF	3.600	0.097	0.892	0.977	0.994	525.27	278.92	168.56
Base-MoH PXF	3.546	0.096	0.894	0.977	0.994	516.21	261.16	161.84
NeWCRFs	2.373	0.059	0.965	0.995	0.999	847.32	463.72	234.65
Meta NeWCRFs	6.929	0.284	0.559	0.822	0.932	505.81	235.54	156.89
Meta-Base NeWCRFs	4.201	0.122	0.844	0.959	0.988	780.12	427.10	207.85
Base-Meta NeWCRFs	6.069	0.219	0.662	0.879	0.958	611.31	280.70	180.89
Pyra NeWCRFs	5.140	0.177	0.738	0.920	0.976	667.40	306.87	205.90
Pyra-Base NeWCRFs	3.193	0.088	0.914	0.983	0.996	801.98	457.53	231.76
Base-Pyra NeWCRFs	4.750	0.171	0.756	0.934	0.981	697.67	312.78	200.27
MoH NeWCRFs	2.483	0.062	0.958	0.994	0.999	704.72	355.31	223.71
MoH-Base NeWCRFs	2.432	0.060	0.962	0.995	0.999	821.65	468.97	245.97
Base-MoH NeWCRFs	*2.361*	0.060	0.963	*0.995*	*0.999*	687.85	347.26	214.89
(b)
METER	*5.794*	*6.625*	0.302	0.504	0.618	42.51	29.66	22.16
Meta METER	5.920	7.797	*0.329*	*0.516*	*0.622*	44.45	*24.12*	*18.22*
Pyra METER	6.052	7.010	0.319	0.498	0.605	36.50	26.22	26.65
MoH METER	5.958	8.033	0.329	0.514	0.621	44.69	31.88	25.17
PXF	2.205	0.055	0.972	0.997	0.999	781.45	437.31	262.77
Meta PXF	4.161	0.120	0.845	0.956	0.987	*567.21*	*300.64*	*194.17*
Meta-Base PXF	4.250	0.119	0.843	0.953	0.986	585.94	317.15	200.21
Base-Meta PXF	2.195	*0.054*	*0.972*	*0.997*	*0.999*	754.56	428.33	258.40
Pyra PXF	3.243	0.086	0.914	0.983	0.996	781.64	439.35	275.37
Pyra-Base PXF	3.254	0.087	0.915	0.983	0.995	780.42	437.67	263.11
Base-Pyra PXF	*2.192*	0.055	*0.972*	*0.997*	*0.999*	792.97	444.23	267.44
MoH PXF	3.561	0.094	0.894	0.975	0.993	867.64	514.36	290.09
MoH-Base PXF	3.508	0.093	0.901	0.978	0.994	870.25	502.47	295.32
Base-MoH PXF	3.562	0.093	0.894	0.976	0.993	837.29	474.92	273.32
NeWCRFs	*2.185*	*0.054*	*0.972*	*0.999*	*0.997*	1152.80	718.32	356.12
Meta NeWCRFs	7.302	0.300	0.522	0.802	0.922	679.21	372.90	221.74
Meta-Base NeWCRFs	4.322	0.122	0.838	0.953	0.986	876.38	530.25	270.77
Base-Meta NeWCRFs	6.221	0.233	0.647	0.872	0.954	877.22	483.00	279.96
Pyra NeWCRFs	5.311	0.186	0.725	0.914	0.973	1001.02	508.04	303.65
Pyra-Base NeWCRFs	3.250	0.087	0.914	0.984	0.996	1093.31	644.32	339.26
Base-Pyra NeWCRFs	5.062	0.177	0.744	0.926	0.977	951.53	505.20	309.29
MoH NeWCRFs	2.272	0.057	0.969	0.996	0.999	1041.32	557.87	342.92
MoH-Base NeWCRFs	2.219	0.056	0.970	0.996	0.999	1115.38	672.96	352.22
Base-MoH NeWCRFs	2.203	0.055	0.971	0.996	0.999	955.48	526.33	316.13
(c)
METER	5.726	7.299	0.332	0.524	0.630	44.05	30.68	34.50
Meta METER	*5.711*	7.469	0.270	.493	0.625	*41.78*	29.97	*26.27*
Pyra METER	5.744	7.122	0.288	0.501	0.621	51.37	29.30	38.01
MoH METER	5.714	7.470	0.275	0.498	0.628	63.78	34.45	35.24
PXF	2.123	0.052	0.975	0.997	0.999	1498.72	738.41	426.68
Meta PXF	3.426	0.094	0.892	0.977	0.995	*959.37*	*504.63*	302.80
Meta-Base PXF	3.454	0.094	0.896	0.978	0.995	984.05	510.99	304.09
Base-Meta PXF	*2.108*	*0.052*	*0.976*	*0.997*	*0.999*	1314.52	729.29	388.99
Pyra PXF	3.273	0.087	0.913	0.983	0.996	1359.07	802.24	430.41
Pyra-Base PXF	3.202	0.086	0.913	0.983	0.996	1383.07	759.66	437.13
Base-Pyra PXF	2.111	0.052	0.975	0.997	0.999	1575.81	748.99	412.63
MoH PXF	3.427	0.089	0.906	0.980	0.995	1781.64	830.96	462.96
MoH-Base PXF	3.399	0.089	0.909	0.980	0.995	2491.49	833.11	473.86
Base-MoH PXF	3.311	0.086	0.913	0.982	0.995	2111.08	785.55	429.66
NeWCRFs	*2.072*	*0.052*	*0.975*	*0.997*	*0.999*	1863.63	969.38	500.17
Meta NeWCRFs	6.952	0.288	0.545	0.815	0.930	1297.96	555.62	326.76
Meta-Base NeWCRFs	3.481	0.096	0.895	0.979	0.995	1423.14	725.79	374.50
Base-Meta NeWCRFs	5.626	0.203	0.691	0.898	0.968	1490.97	796.73	433.06
Pyra NeWCRFs	4.830	0.164	0.762	0.932	0.979	1730.30	837.99	477.72
Pyra-Base NeWCRFs	3.302	0.087	0.910	0.982	0.996	1813.54	969.33	503.52
Base-Pyra NeWCRFs	4.529	0.153	0.785	0.944	0.985	1575.83	801.59	460.03
MoH NeWCRFs	2.176	0.053	0.972	0.997	0.999	1668.14	869.06	503.80
MoH-Base NeWCRFs	2.123	0.052	0.974	0.997	0.999	1709.84	992.06	518.11
Base-MoH NeWCRFs	2.128	0.052	0.974	0.997	0.999	1616.46	855.36	473.46

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