Table E: The Corruption Error (CE) of 32 monocular depth estimation models in KITTI-C. All scores are given in percentage (%). 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	mCE	Bright	Dark	Fog	Frost	Snow	Contr	Defoc	Glass	Motio	Zoom	Elast	Quant	Gaus	Impul	Shot	ISO	Pixel	JPEG
MonoDepth2 R18 [17]	100.0	100.0	100.0	100.0	100.0	100.0	100.0	100.0	100.0	100.0	100.0	100.0	100.0	100.0	100.0	100.0	100.0	101.0	100.0	100.0
MonoDepth2 nopt [17]	119.8	140.8	122.5	200.7	112.6	78.1	222.5	104.1	95.9	92.1	103.0	114.7	109.8	114.8	116.2	118.2	116.8	105.5	87.2
MonoDepth2 HR [17]	106.1	99.2	134.3	100.0	97.8	113.9	114.4	161.1	106.2	106.5	115.4	95.4	111.4	84.9	90.5	93.2	88.7	95.2	101.0
MonoDepth2 R50 [17]	113.4	97.7	105.0	100.0	103.6	96.3	124.6	175.0	162.0	128.2	103.5	100.8	102.6	106.5	103.6	108.2	109.5	106.9	107.7
MaskOcc R18 [48]	104.1	100.0	101.8	98.7	102.2	96.3	107.0	130.3	121.9	105.6	100.0	100.0	95.3	105.0	105.4	107.1	107.5	98.6	90.3
DNet R18 [59]	104.7	98.5	94.3	100.7	114.4	98.6	111.8	142.6	132.2	112.0	107.0	101.6	97.9	94.3	94.1	95.9	92.0	100.0	96.9
CADepth [60]	110.1	93.1	107.1	91.6	117.0	103.5	103.2	145.9	143.4	131.9	103.5	93.8	99.5	110.2	111.3	112.7	115.5	99.3	99.5
HR-Depth [39]	103.7	93.1	103.2	97.4	100.7	94.1	113.9	145.9	124.0	121.8	111.4	96.1	96.9	94.5	95.9	98.8	96.4	93.1	89.8
DIFFNet [67]	95.0	85.4	79.3	84.5	71.8	68.9	86.1	210.3	136.4	129.6	98.0	88.4	85.5	76.0	68.4	75.0	69.6	93.1	103.1
ManyDepth R18 [56]	105.4	103.9	97.9	109.0	104.0	93.7	121.4	104.1	115.3	97.7	96.5	103.9	97.9	112.0	115.7	113.8	116.5	101.4	92.9
FSRE-Depth [22]	99.1	98.5	93.2	89.7	85.6	76.9	90.9	119.3	112.8	99.1	92.0	92.3	92.8	104.2	106.4	108.8	104.9	101.4	114.3
MonoViT [66]	79.3	81.5	86.8	74.8	76.9	53.8	63.6	73.8	84.3	75.5	89.1	91.5	75.7	80.7	75.3	79.7	74.7	111.7	78.6
MonoViT_HR [66]	75.0	78.5	85.0	73.6	81.2	52.6	62.6	59.4	70.7	67.1	91.5	83.7	75.1	78.7	71.2	76.2	73.5	93.1	75.5
DynaDepth R18 [64]	110.4	98.5	103.2	100.7	104.3	99.6	111.2	205.3	143.4	141.2	103.0	98.5	96.4	98.7	97.4	98.8	97.7	97.2	91.8
DynaDepth R50 [64]	120.0	98.5	106.4	98.1	117.0	107.4	107.5	218.0	187.6	147.2	108.5	96.9	102.1	108.9	112.3	112.4	115.5	105.5	110.2
RA-Depth [42]	112.7	86.9	112.1	81.9	86.3	80.8	88.2	204.5	152.1	175.0	106.5	94.6	92.2	110.2	103.6	118.2	117.3	120.7	98.0
TriDepth R18 [6]	109.3	100.8	107.1	121.3	122.0	97.5	141.7	109.8	124.4	98.2	94.5	97.7	103.1	108.9	112.6	111.8	112.9	97.9	104.6
Lite-Mono Tiny [63]	92.9	97.7	91.8	101.3	81.2	69.3	102.1	105.3	102.5	91.7	92.5	98.5	82.4	93.2	87.9	98.8	92.8	101.4	82.1
Lite-Mono Small [63]	100.3	97.7	89.6	104.5	90.6	84.2	127.3	144.7	116.5	113.9	101.5	99.2	83.4	91.2	86.4	93.8	91.8	106.2	83.7
Lite-MonoBase [63]	93.2	91.5	92.5	92.9	88.5	75.2	94.7	91.8	97.9	102.3	97.5	100.0	90.7	94.0	87.4	98.2	93.6	104.1	84.2
Lite-MonoLarge [63]	90.8	84.6	81.1	81.3	92.1	84.7	79.7	91.0	93.0	101.9	95.5	93.8	76.7	94.5	89.5	96.8	93.3	110.3	93.9
MonoDepth2 R18 [17]	117.7	102.3	124.3	103.9	110.1	100.8	125.1	159.8	137.2	122.2	104.0	104.7	103.6	128.1	130.9	136.2	127.1	99.3	99.0
MonoDepth2 nopt [17]	129.0	139.2	150.7	188.4	127.1	85.1	182.9	109.0	95.9	100.5	113.9	120.9	122.3	140.4	145.0	153.2	143.3	113.1	90.8
MonoDepth2 HR [17]	111.5	101.5	101.8	107.7	128.5	103.5	127.3	177.1	128.9	129.2	122.4	100.8	106.7	89.3	88.2	94.7	88.7	103.5	106.6
DepthHints [57]	111.4	95.4	110.7	88.4	115.9	100.8	87.7	143.4	169.4	121.8	97.5	100.8	99.5	114.6	114.9	121.2	117.3	108.3	98.0
DepthHints nopt [57]	141.6	133.1	170.0	194.2	135.0	90.6	210.2	146.3	119.4	111.6	114.9	110.1	128.0	159.6	169.2	176.2	178.4	104.8	97.5
DepthHints HR [57]	112.0	93.9	100.7	91.0	114.4	93.9	96.3	188.1	150.0	148.2	130.4	91.5	94.8	103.4	108.2	111.8	109.3	97.2	93.4
MonoDepth2 R18 [17]	124.3	97.7	144.3	96.8	106.5	104.9	106.4	183.2	143.0	131.0	101.5	99.2	105.2	150.3	155.5	165.0	162.1	93.8	91.3
MonoDepth2 nopt [17]	136.3	148.5	164.3	211.6	152.0	83.8	235.3	93.4	91.3	100.0	114.4	118.6	118.7	148.4	153.2	161.5	156.2	111.0	90.3
MonoDepth2 HR [17]	106.1	99.2	134.3	100.0	97.8	113.9	114.4	161.1	106.2	106.5	115.4	95.4	111.4	84.9	90.5	93,2	88.7	95.2	101.0
CADepth [60]	118.3	94.6	127.5	88.4	112.3	108.8	90.4	138.5	170.3	120.4	96.0	97.7	96.4	142.2	143.7	154.1	150.0	100.0	98.0
MonoViT [66]	75.4	80.0	87.5	78.7	76.9	42.1	70.1	73.4	76.0	74.5	83.6	86.8	76.2	72.1	66.1	71.2	67.0	101.4	73.5