# Benchmark on Monocular Metric Depth Estimation in Wildlife Setting

arXiv: https://arxiv.org/abs/2510.04723 · HTML: https://mlsanity.com/paper/2510.04723/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 7 of its 12 references that are in the map.
- First posted on arXiv 6 Oct 2025.

## Builds on (most cited first, 7 of 7)

- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [Hypersim: A Photorealistic Synthetic Dataset for Holistic Indoor Scene Understanding](https://mlsanity.com/paper/2011.02523/) (2020)
- [Depth Pro: Sharp Monocular Metric Depth in Less Than a Second](https://mlsanity.com/paper/2410.02073/) (2024)
- [Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimation](https://mlsanity.com/paper/2404.15506/) (2024)
- [Depth Any Camera: Zero-Shot Metric Depth Estimation from Any Camera](https://mlsanity.com/paper/2501.02464/) (2025)
- [Automated Distance Estimation for Wildlife Camera Trapping](https://mlsanity.com/paper/2202.04613/) (2022)

## Built on by (most cited first, 1 of 1)

- [Physics-Grounded Monocular Vehicle Distance Estimation Using Standardized License Plate Typography](https://mlsanity.com/paper/2604.12239/) (2026)

## Abstract (arXiv)

Camera traps are widely used for wildlife monitoring, but extracting accurate distance measurements from monocular images remains challenging due to the lack of depth information. While monocular depth estimation (MDE) methods have advanced significantly, their performance in natural wildlife environments has not been systematically evaluated. This work introduces the first benchmark for monocular metric depth estimation in wildlife monitoring conditions. We evaluate four state-of-the-art MDE methods (Depth Anything V2, ML Depth Pro, ZoeDepth, and Metric3D) alongside a geometric baseline on 93 camera trap images with ground truth distances obtained using calibrated ChARUCO patterns. Our results demonstrate that Depth Anything V2 achieves the best overall performance with a mean absolute error of 0.454m and correlation of 0.962, while methods like ZoeDepth show significant degradation in outdoor natural environments (MAE: 3.087m). We find that median-based depth extraction consistently outperforms mean-based approaches across all deep learning methods. Additionally, we analyze computational efficiency, with ZoeDepth being fastest (0.17s per image) but least accurate, while Depth Anything V2 provides an optimal balance of accuracy and speed (0.22s per image). This benchmark establishes performance baselines for wildlife applications and provides practical guidance for implementing depth estimation in conservation monitoring systems.