Table D: The Depth Estimation Error (DEE) of 32 monocular depth estimation models in the KITTI-C benchmark. Blocks from top to bottom: [1st] the baseline MonoDepth2R18 [17]; [2nd] methods w/ monocular inputs; [3rd] methods w/ stereo inputs; [4th] methods w/ monocular + stereo inputs. Bold: Best in col. Underline: Second best in col. Blue: Best in row. Red: Worst in row.
Method	mDEE	Bright	Dark	Fog	Frost	Snow	Contr	Defoc	Glass	Motio	Zoom	Elast	Quant	Gaus	Impul	Shot	ISO	Pixel	JPEG
MonoDepth2 R18 [17]	.119	.130	.280	.155	.277	.511	.187	.244	.242	.216	.201	.129	.193	.384	.389	.340	.388	.145	.196
MonoDepth2 nopt [17]	.144	.183	.343	.311	.312	.399	.416	.254	.232	.199	.207	.148	.212	.441	.452	.402	.453	.153	.171
MonoDepth2 HR [17]	.144	.129	.376	.155	.271	.582	.214	.393	.257	.230	.232	.123	.215	.326	.352	.317	.344	.138	.198
MonoDepth2 R50 [17]	.117	.127	.294	.155	.287	.492	.233	.427	.392	.277	.208	.130	.198	.409	.403	.368	.425	.155	.211
MaskOcc R18 [48]	.117	.130	.285	.154	.283	.492	.200	.318	.295	.228	.201	.129	.184	.403	.410	.364	.417	.143	.177
DNet R18 [59]	.118	.128	.264	.156	.317	.504	.209	.348	.320	.242	.215	.131	.189	.362	.366	.326	.357	.145	.190
CADepth [60]	.108	.121	.300	.142	.324	.529	.193	.356	.347	.285	.208	.121	.192	.423	.433	.383	.448	.144	.195
HR-Depth [39]	.112	.121	.289	.151	.279	.481	.213	.356	.300	.263	.224	.124	.187	.363	.373	.336	.374	.135	.176
DIFFNet [67]	.102	.111	.222	.131	.199	.352	.161	.513	.330	.280	.197	.114	.165	.292	.266	.255	.270	.135	.202
ManyDepth [56]	.123	.135	.274	.169	.288	.479	.227	.254	.279	.211	.194	.134	.189	.430	.450	.387	.452	.147	.182
FSREDepth [22]	.109	.128	.261	.139	.237	.393	.170	.291	.273	.214	.185	.119	.179	.400	.414	.370	.407	.147	.224
MonoViT [66]	.099	.106	.243	.116	.213	.275	.119	.180	.204	.163	.179	.118	.146	.310	.293	.271	.290	.162	.154
MonoViTR HR [66]	.094	.102	.238	.114	.225	.269	.117	.145	.171	.145	.184	.108	.145	.302	.277	.259	.285	.135	.148
DynaDepth R18 [64]	.117	.128	.289	.156	.289	.509	.208	.501	.347	.305	.207	.127	.186	.379	.379	.336	.379	.141	.180
DynaDepth R50 [64]	.113	.128	.298	.152	.324	.549	.201	.532	.454	.318	.218	.125	.197	.418	.437	.382	.448	.153	.216
RA-Depth [42]	.096	.113	.314	.127	.239	.413	.165	.499	.368	.378	.214	.122	.178	.423	.403	.402	.455	.175	.192
TriDepth R18 [6]	.117	.131	.300	.188	.338	.498	.265	.268	.301	.212	.190	.126	.199	.418	.438	.380	.438	.142	.205
Lite-Mono Tiny [63]	.115	.127	.257	.157	.225	.354	.191	.257	.248	.198	.186	.127	.159	.358	.342	.336	.360	.147	.161
Lite-Mono Small [63]	.115	.127	.251	.162	.251	.430	.238	.353	.282	.246	.204	.128	.161	.350	.336	.319	.356	.154	.164
Lite-Mono Base [63]	.110	.119	.259	.144	.245	.384	.177	.224	.237	.221	.196	.129	.175	.361	.340	.334	.363	.151	.165
Lite-Mono Large [63]	.102	.110	.227	.126	.255	.433	.149	.222	.225	.220	.192	.121	.148	.363	.348	.329	.362	.160	.184
MonoDepth2 R18 [17]	.123	.133	.348	.161	.305	.515	.234	.390	.332	.264	.209	.135	.200	.492	.509	.463	.493	.144	.194
MonoDepth2 nopt [17]	.150	.181	.422	.292	.352	.435	.342	.266	.232	.217	.229	.156	.236	.539	.564	.521	.556	.164	.178
MonoDepth2 HR [17]	.117	.132	.285	.167	.356	.529	.238	.432	.312	.279	.246	.130	.206	.343	.343	.322	.344	.150	.209
DepthHints [57]	.113	.124	.310	.137	.321	.515	.164	.350	.410	.263	.196	.130	.192	.440	.447	.412	.455	.157	.192
DepthHints nopt [57]	.134	.173	.476	.301	.374	.463	.393	.357	.289	.241	.231	.142	.247	.613	.658	.599	.692	.152	.191
DepthHints HR [57]	.104	.122	.282	.141	.317	.480	.180	.459	.363	.320	.262	.118	.183	.397	.421	.380	.424	.141	.183
MonoDepth2 R18 [17]	.116	.127	.404	.150	.295	.536	.199	.447	.346	.283	.204	.128	.203	.577	.605	.561	.629	.136	.179
MonoDepth2 nopt [17]	.146	.193	.460	.328	.421	.428	.440	.228	.221	.216	.230	.153	.229	.570	.596	.549	.606	.161	.177
MonoDepth2 HR [17]	.114	.129	.376	.155	.271	.582	.214	.393	.257	.230	.232	.123	.215	.326	.352	.317	.344	.138	.198
CADepth [60]	.110	.123	.357	.137	.311	.556	.169	.338	.412	.260	.193	.126	.186	.546	.559	.524	.582	.145	.192
MonoViT [66]	.098	.104	.245	.122	.213	.215	.131	.179	.184	.161	.168	.112	.147	.277	.257	.242	.260	.147	.144