Table 1: Self-Supervised MDE Robustness Benchmark consisting of 32 models on KITTI-C. The mCE and mRR scores are given in percentage (\%). Blocks from top to bottom: [1st]: The baseline MonoDepth2_R18 [17]; [2nd]: Methods w/ monocular inputs; [3rd]: Methods w/ stereo inputs; [4th]: Methods w/ monocular + stereo inputs. Bold: Best in column. Underline: Second best in column. The best score of each metric across three categories is shaded in color.
Method	Overall Robustness	Weather & Lightning	Sensor & Movement	Data & Processing
mCE	mRR	mDEE	mCE	mRR	mDEE	mCE	mRR	mDEE	mCE	mRR	mDEE
MonoDepth2 R18 [17]	100.00	84.46	0.256	100.00	84.37	0.257	100.00	90.33	0.204	100.00	78.66	0.307
MonoDepth2 nopt [17]	119.75	82.50	0.294	146.17	78.58	0.327	103.28	92.45	0.209	109.80	76.48	0.345
MonoDepth2 HR [17]	106.06	82.44	0.270	109.95	80.38	0.288	115.99	85.59	0.242	92.25	81.36	0.279
MonoDepth2 R50 [17]	113.43	80.59	0.288	104.53	83.28	0.265	128.68	82.45	0.272	107.07	76.05	0.329
MaskOcc R18 [48]	104.05	82.97	0.267	100.98	84.13	0.257	108.85	87.67	0.226	102.30	77.12	0.319
DNet R18 [59]	104.71	83.34	0.265	103.04	83.56	0.263	115.56	86.07	0.241	95.53	80.39	0.291
CADepth [60]	110.11	80.07	0.286	102.59	82.04	0.268	119.67	83.91	0.252	108.06	74.25	0.338
HR-Depth [39]	103.73	82.93	0.264	100.41	83.82	0.256	116.01	85.32	0.242	94.76	79.64	0.293
DIFFNet [67]	94.96	85.41	0.233	79.33	89.53	0.196	124.69	81.68	0.267	80.86	85.00	0.237
ManyDepth R18 [56]	105.41	83.11	0.271	104.97	84.15	0.262	102.57	90.06	0.210	108.70	75.10	0.341
FSRE-Depth [22]	99.05	83.86	0.253	89.12	87.39	0.221	101.36	88.65	0.210	106.66	75.53	0.327
MonoViT [66]	79.33	89.15	0.197	72.92	91.16	0.179	81.62	92.67	0.165	83.47	83.61	0.247
MonoViTR HR [66]	74.95	89.72	0.187	72.24	90.78	0.177	74.60	93.86	0.150	78.02	84.51	0.234
DynaDepth R18 [64]	110.38	81.50	0.280	102.92	83.45	0.263	131.29	81.67	0.279	96.95	79.39	0.299
DynaDepth R50 [64]	119.99	77.98	0.308	105.81	81.70	0.275	143.38	78.09	0.307	110.79	74.15	0.342
RA-Depth [42]	112.73	78.79	0.288	89.39	85.34	0.229	137.47	78.19	0.293	111.32	72.82	0.342
TriDepth R18 [6]	109.26	81.56	0.280	115.07	80.79	0.287	104.61	88.79	0.216	108.10	75.10	0.337
Lite-Mono Tiny [63]	92.92	86.69	0.233	90.57	88.31	0.219	95.47	90.87	0.196	92.71	80.90	0.284
Lite-Mono Small [63]	100.34	84.67	0.251	98.98	85.52	0.243	109.87	87.12	0.229	92.16	81.37	0.280
Lite-Mono Base [63]	93.16	85.99	0.235	89.20	87.49	0.221	96.71	90.22	0.197	93.59	80.26	0.286
Lite-Mono Large [63]	90.75	85.54	0.232	83.91	87.23	0.217	91.97	90.42	0.188	96.38	78.95	0.291
MonoDepth2 R18 [17]	117.69	79.05	0.307	111.08	81.79	0.283	121.92	84.95	0.255	120.08	70.41	0.383
MonoDepth2 nopt [17]	128.98	79.20	0.327	145.57	77.96	0.337	110.41	91.45	0.223	130.97	68.20	0.420
MonoDepth2 HR [17]	111.46	81.65	0.279	111.73	81.03	0.284	127.51	82.96	0.268	95.16	80.96	0.285
DepthHints [57]	111.41	80.08	0.290	99.81	83.22	0.262	122.07	83.78	0.257	112.36	73.22	0.351
DepthHints nopt [57]	141.61	73.18	0.366	155.51	73.52	0.363	121.71	86.47	0.251	147.60	59.57	0.484
DepthHints HR [57]	112.02	79.53	0.287	98.36	83.30	0.254	133.82	79.89	0.284	103.88	75.41	0.324
MonoDepth2 R18 [17]	124.31	75.36	0.334	109.43	80.86	0.285	127.18	82.75	0.269	136.34	62.46	0.448
MonoDepth2 nopt [17]	136.25	76.72	0.345	165.90	72.79	0.378	106.08	92.17	0.213	136.77	65.20	0.443
MonoDepth2 HR [17]	106.06	82.44	0.270	109.95	80.38	0.288	115.99	85.59	0.242	92.25	81.36	0.279
CADEpth [60]	118.29	76.68	0.318	103.66	81.40	0.276	119.87	83.99	0.253	131.33	64.64	0.425
MonoViT [66]	75.39	90.49	0.184	72.54	91.83	0.172	78.42	93.29	0.159	75.21	86.35	0.221