Table F: The Resilience Rate (RR) of 32 monocular depth estimation models in KITTI-C. All 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 col. Underline: Second best in col. Blue: Best in row. Red: Worst in row.
Method	mRR	Bright	Dark	Fog	Frost	Snow	Contr	Defoc	Glass	Motio	Zoom	Elast	Quant	Gaus	Impul	Shot	ISO	Pixel	JPEG
MonoDepth2R18 [17]	84.5	98.8	81.7	95.9	82.1	55.5	92.3	85.8	86.0	89.0	90.7	98.9	91.6	69.9	69.4	74.9	69.5	97.1	91.3
MonoDepth2nopt [17]	82.5	95.4	76.8	80.5	80.4	70.2	68.2	87.2	89.7	93.6	92.6	99.5	92.1	65.3	64.0	69.9	63.9	99.0	96.9
MonoDepth2HR [17]	82.4	98.3	70.4	95.4	82.3	47.2	88.7	68.5	83.9	86.9	86.7	99.0	88.6	76.1	73.1	77.1	74.0	97.3	90.5
MonoDepth2R50 [17]	80.6	98.9	80.0	95.7	80.8	57.5	86.9	64.9	68.9	81.9	89.7	98.5	90.8	66.9	67.6	71.6	65.1	95.7	89.4
MaskOccR18 [48]	83.0	98.5	81.0	95.9	81.2	57.5	90.6	77.2	79.8	87.4	90.5	98.6	92.4	67.6	66.8	72.0	66.0	97.1	93.2
DNetR18 [59]	83.3	98.9	83.5	95.7	77.4	56.2	89.7	73.9	77.1	85.9	89.0	98.5	92.0	72.3	71.9	76.4	72.9	96.9	91.8
CADepth [60]	80.1	98.5	78.5	96.2	75.8	52.8	90.5	72.2	73.2	80.2	88.8	98.5	90.6	64.7	63.6	69.2	61.9	96.0	90.3
HR-Depth [39]	82.9	99.0	80.1	95.6	81.2	58.5	88.6	72.5	78.8	83.0	87.4	98.7	91.6	71.7	70.6	74.8	70.5	97.4	92.8
DIFFNet [67]	85.4	99.0	86.6	96.8	89.2	72.2	93.4	54.2	74.6	80.2	89.4	98.7	93.0	78.8	81.7	83.0	81.3	96.3	88.9
ManyDepth [56]	83.1	98.6	82.8	94.8	81.2	59.4	88.1	85.1	82.2	90.0	91.9	98.8	92.5	65.0	62.7	69.9	62.5	97.3	93.3
FSREDepth [22]	83.9	97.9	82.9	96.6	85.6	68.1	93.2	79.6	81.6	88.2	91.5	98.9	92.1	67.3	65.8	70.7	66.6	95.7	87.1
MonoViT [66]	89.2	99.2	84.0	98.1	87.4	80.5	97.8	91.0	88.4	92.9	91.1	97.9	94.8	76.6	78.5	80.9	78.8	93.0	93.9
MonoViTHR [66]	89.7	99.1	84.1	97.8	85.5	80.7	97.5	94.4	91.5	94.4	90.1	98.5	94.4	77.0	79.8	81.8	78.9	95.5	94.0
DynaDepthR18 [64]	81.5	98.8	80.5	95.6	80.5	55.6	89.7	56.5	74.0	78.7	89.8	98.9	92.2	70.3	70.3	75.2	70.3	97.3	92.9
DynaDepthR50 [64]	78.0	98.3	79.1	95.6	76.2	50.9	90.1	52.8	61.6	76.9	88.2	98.7	90.5	65.6	63.5	69.7	62.2	95.5	88.4
RA-Depth [42]	78.8	98.1	75.9	96.6	84.2	64.9	92.4	55.4	69.9	68.8	87.0	97.1	90.9	63.8	66.0	66.2	60.3	91.3	89.4
TriDepthR18 [6]	81.6	98.4	79.3	92.0	75.0	56.9	83.2	82.9	79.2	89.2	91.7	99.0	90.7	65.9	63.7	70.2	63.7	97.2	90.0
Lite-MonoTiny [63]	86.7	98.6	84.0	95.3	87.6	73.0	91.4	84.0	85.0	90.6	92.0	98.6	95.0	72.5	74.4	75.0	72.3	96.4	94.8
Lite-MonoSmall [63]	84.7	98.6	84.6	94.7	84.6	64.4	86.1	73.1	81.1	85.2	89.9	98.5	94.8	73.5	75.0	77.0	72.8	95.6	94.5
Lite-MonoBase [63]	86.0	99.0	83.3	96.2	84.8	69.2	92.5	87.2	85.7	87.5	90.3	97.9	92.7	71.8	74.2	74.8	71.6	95.4	93.8
Lite-MonoLarge [63]	85.5	99.1	86.1	97.3	83.0	63.1	94.8	86.6	86.3	86.9	90.0	97.9	94.9	70.9	72.6	74.7	71.1	93.5	90.9
MonoDepth2R18 [17]	79.1	98.9	74.3	95.7	79.3	55.3	87.3	69.6	76.2	83.9	90.2	98.6	91.2	57.9	56.0	61.2	57.8	97.6	91.9
MonoDepth2nopt [17]	79.2	96.4	68.0	83.3	76.2	66.5	77.4	86.4	90.4	92.1	90.7	99.3	89.9	54.2	51.3	56.4	52.2	98.4	96.7
MonoDepth2HR [17]	81.6	98.3	81.0	94.3	72.9	53.3	86.3	64.3	77.9	81.7	85.4	98.5	89.9	74.4	74.4	76.8	74.3	96.3	89.6
DepthHints [57]	80.1	98.8	77.8	97.3	76.6	54.7	94.3	73.3	66.5	83.1	90.6	98.1	91.1	63.1	62.3	66.3	61.4	95.0	91.1
DepthHints nopt [57]	79.5	98.0	80.1	95.9	76.2	58.0	91.5	60.4	71.1	75.9	82.4	98.4	91.2	67.3	64.6	69.2	64.3	95.9	91.2
DepthHints HR [57]	73.2	95.5	60.5	80.7	72.3	62.0	70.1	74.3	82.1	87.6	88.8	99.1	87.0	44.7	39.5	46.3	35.6	97.9	93.4
MonoDepth2R18 [17]	75.4	98.8	67.4	96.2	79.8	52.5	90.6	62.6	74.0	81.1	90.1	98.6	90.2	47.9	44.7	49.7	42.0	97.7	92.9
MonoDepth2nopt [17]	76.7	94.5	63.2	78.7	67.8	67.0	65.6	90.4	91.2	91.8	90.2	99.2	90.3	50.4	47.3	52.8	46.1	98.2	96.4
MonoDepth2HR [17]	82.4	98.3	70.4	95.4	82.3	47.2	88.7	68.5	83.9	86.9	86.7	99.0	88.6	76.1	73.1	77.1	74.0	97,3	90.5
CADepth [60]	76.7	98.5	72.3	97.0	77.4	49.9	93.4	74.4	66.1	83.2	90.7	98.2	91.5	51.0	49.6	53.5	47.0	96.1	90.8
MonoViT [66]	90.4	99.2	83.6	97.2	87.2	86.9	96.2	90.9	90.4	92.9	92.1	98.3	94.5	80.1	82.3	83.9	82.0	94.5	94.8