| 方法 | 误差(越低越好) | 准确率(越高越好) | |||
| RMSE | REL | δ < 1.25 | δ < 1.252 | δ < 1.253 | |
| CSPN [8] | 0.117 | 0.016 | 99.2 | 99.9 | 100.0 |
| DeepLiDAR [12] | 0.115 | 0.022 | 99.3 | 99.9 | 100.0 |
| DepthNormal [13] | 0.112 | 0.018 | 99.5 | 99.9 | 100.0 |
| 本文方法 | 0.093 | 0.012 | 99.5 | 99.9 | 100.0 |