---
library_name: UniDepth
tags:
- monocular-metric-depth-estimation
- pytorch_model_hub_mixin
- model_hub_mixin
- depth-estimation
repo_url: https://github.com/lpiccinelli-eth/UniDepth
license: cc-by-nc-4.0
---

[![arXiv](https://img.shields.io/badge/UniDepthV2%20arXiv-2502.20110-blue?logo=arxiv&color=%23B31B1B)](https://arxiv.org/abs/2502.20110)
[![arXiv](https://img.shields.io/badge/UniDepthV1%20arXiv-2403.18913-blue?logo=arxiv-v1&color=%23B31B1B)](https://arxiv.org/abs/2403.18913)
[![ProjectPage](https://img.shields.io/badge/Project_Page-UniDepth-blue)](https://lpiccinelli-eth.github.io/pub/unidepth/)

# UniDepthV2: Universal Monocular Metric Depth Estimation Made Simpler

[![KITTI Benchmark](https://img.shields.io/badge/KITTI%20Benchmark-1st%20(at%20submission%20time)-orange)](https://www.cvlibs.net/datasets/kitti/eval_depth.php?benchmark=depth_prediction)
[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/unidepthv2-universal-monocular-metric-depth/monocular-depth-estimation-on-nyu-depth-v2)](https://paperswithcode.com/sota/monocular-depth-estimation-on-nyu-depth-v2?p=unidepthv2-universal-monocular-metric-depth)
[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/unidepthv2-universal-monocular-metric-depth/monocular-depth-estimation-on-kitti-eigen)](https://paperswithcode.com/sota/monocular-depth-estimation-on-kitti-eigen?p=unidepthv2-universal-monocular-metric-depth)


![](assets/docs/unidepthv2-banner.png)

> [**UniDepthV2: Universal Monocular Metric Depth Estimation Made Simpler**](https://arxiv.org/abs/2403.18913),  
> Luigi Piccinelli, Christos Sakaridis, Yung-Hsu Yang, Mattia Segu, Siyuan Li, Wim Abbeloos, Luc Van Gool,  
> under submission,  
> *Paper at [arXiv 2502.20110](https://arxiv.org/abs/2502.20110)*  


# UniDepth: Universal Monocular Metric Depth Estimation

[![KITTI Benchmark](https://img.shields.io/badge/KITTI%20Benchmark-1st%20(at%20submission%20time)-orange)](https://www.cvlibs.net/datasets/kitti/eval_depth.php?benchmark=depth_prediction)
[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/unidepth-universal-monocular-metric-depth/monocular-depth-estimation-on-nyu-depth-v2)](https://paperswithcode.com/sota/monocular-depth-estimation-on-nyu-depth-v2?p=unidepth-universal-monocular-metric-depth)
[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/unidepth-universal-monocular-metric-depth/monocular-depth-estimation-on-kitti-eigen)](https://paperswithcode.com/sota/monocular-depth-estimation-on-kitti-eigen?p=unidepth-universal-monocular-metric-depth)

![](assets/docs/unidepth-banner.png)

> [**UniDepth: Universal Monocular Metric Depth Estimation**](https://arxiv.org/abs/2403.18913),  
> Luigi Piccinelli, Yung-Hsu Yang, Christos Sakaridis, Mattia Segu, Siyuan Li, Luc Van Gool, Fisher Yu,  
> CVPR 2024,  
> *Paper at [arXiv 2403.18913](https://arxiv.org/pdf/2403.18913.pdf)*  



## News and ToDo

- [ ] HuggingFace/Gradio demo.
- [x] `28.02.2025`: Release UniDepthV2.
- [x] `15.10.2024`: Release training code.
- [x] `02.04.2024`: Release UniDepth as python package.
- [x] `01.04.2024`: Inference code and V1 models are released.
- [x] `26.02.2024`: UniDepth is accepted at CVPR 2024! (Highlight :star:)


## Zero-Shot Visualization

### YouTube (The Office - Parkour)
<p align="center">
  <img src="assets/docs/theoffice.gif" alt="animated" />
</p>

### NuScenes (stitched cameras)
<p align="center">
  <img src="assets/docs/nuscenes_surround.gif" alt="animated" />
</p>


## Installation
... (rest of the content remains the same)