| Dataset Name | SOTA Method | Metric | Trend | ||
|---|---|---|---|---|---|
| NYU v2 (test) | DSN | Mean Angle Distance (MAD)8.6 | 224 | 24d ago | |
| NYU v2 | Mean Angular Error-22.1 | 96 | 17d ago | ||
| iBims-1 | GeoWizard | MAE13 | 67 | 17d ago | |
| PASCAL Context | TIGER-L | Mean Error (MAE)12.46 | 64 | 1mo ago | |
| PASCAL-Context (test) | UV-M3TL | mErr13.44 | 50 | 4mo ago | |
| NYUd | RADIOv2.5-g | mErr17.08 | 38 | 2mo ago | |
| NYU v2 (Retained set) | A3067.13 | 33 | 2mo ago | ||
| Hi4D | THFM | MAE11.01 | 32 | 3mo ago | |
| DIODE | SurGe | Mean Angle Error12 | 29 | 17d ago | |
| NYUv2 (val) | M2H | mAE13.81 | 26 | 1mo ago | |
| DIODE (test) | L1 Error4 | 24 | 4mo ago | ||
| ScanNet | SenseNova-Vision | Mean Error12.8 | 20 | 17d ago | |
| ScanNet Indoor | FE2E | Mean Error13.8 | 18 | 25d ago | |
| NYUD clean and adverse conditions v2 v1 (unseen) | RobuMTL+ | RMSE18.17 | 18 | 4mo ago | |
| FamousShape (avg) | GAD | L2 Error0.05 | 18 | 4mo ago | |
| ScanNet Normal Benchmark (test) | Metric3D v2 | Angle Error Threshold (11.25°)77.8 | 18 | 4mo ago | |
| Structured3D (test) | Ours | Mean Angular Error (deg)3.85 | 16 | 1mo ago | |
| Sintel Outdoor | Lotus-D | Accuracy (11.25° Threshold)22.4 | 14 | 25d ago | |
| Real-world Average | Ours | MAE (°)12.54 | 14 | 3mo ago | |
| SPW (test) | iDisc + PPFT | Mean Angular Error10.91 | 13 | 3mo ago | |
| GSO | SurGe | MAE10.5 | 12 | 1mo ago | |
| ETH3D | SurGe | Mean Absolute Error (MAE)18.3 | 12 | 1mo ago | |
| SfPUEL | MAE9.36 | 12 | 4mo ago | ||
| PISR | Ours | MAE12.32 | 12 | 4mo ago | |
| Our real w/ GT | Ours | MAE12.63 | 12 | 4mo ago |
