Table 1: Quantitative comparison on the 360D dataset. ↓ and ↑ on the right-side of metric labels denote ‘smaller is better’ and ‘larger is better’, respectively. We refer the readers to our supplementary material for definitions of the metrics.

Abs Rel ↓ Sq Rel ↓ RMS ↓ RMSlog ↓ δ < 1.25 ↑ δ < 1.252 δ < 1.253
Godard et al. [15] 0.2552 0.9864 4.4524 0.5087 0.3096 0.5506 0.7202
Lainaet al. [16] 0.1423 0.2544 0.7751 0.2497 0.5198 0.8032 0.9175
Liu et al. [17] 0.1869 0.4076 0.9243 0.2961 0.424 0.7148 0.8705
Lee et al. [18] 0.3212 0.3511 1.0838 0.4109 0.4293 0.7389 0.8918
Yan et al. [19] 0.3841 0.5195 1.2677 0.4843 0.3406 0.6467 0.8405
Zioulis et al. [8] 0.0702 0.0297 0.2911 0.1017 0.9574 0.9933 0.9979
Zioulis et al. [11] λratio = 0.6 0.1953 0.1531 0.6589 0.2614 0.6469 0.9212 0.9776
Zioulis et al. [11] λratio = 0.8 0.1949 0.1457 0.6574 0.2591 0.6620 0.9180 0.9758
Zioulis et al. [11] λratio = 1 0.1938 0.1444 0.6468 0.2573 0.6737 0.9159 0.9754
Zioulis et al. [11] supervised 0.1238 0.0693 0.4365 0.1723 0.8507 0.9679 0.9898
Ours 0.0708 0.0231 0.2498 0.1001 0.9614 0.9946 0.9982