DepthAnythingV2 is a state-of-the-art monocular depth estimation model that generalizes well on zero-shot images. TAO NvDepthAnythingV2 relative depth model is a pretrained commercial model that can produce a relative depth map given a single image. In addition, NvDepthAnythingV2 can be used as initialization when fine-tuning the MetricDepthAnything model for better accuracy.
This model is ready for commercial use.
Use of this model is governed by the NVIDIA Community Model License. Additional Information: Apache 2.0.
Global
This model is intended for developers working on industrial, robotics, and smart space applications to estimate the depth from monocular image input.
NGC [07/25/2025] link
Architecture Type: Transformer-based Network Architecture
Network Architecture: Vit-Large
Number of model parameters: 3.6*10^8
**This model was developed based on DINOV2-ViT-Large
Cumulative Compute: 2.0952*10^16
Estimated Energy and Emissions for Model Training:
Input Type(s): RGB image
Input Format: Red, Green, Blue (RGB)
Input Parameters: Two-Dimensional (2D)
Other Properties Related to Input: B X 3 X H X W (Batch Size x Channel x Height x Width)
Output Type(s): Image
Output Format: Depth Map Image
Output Parameters: Two-Dimensional (2D)
Other Properties Related to Output: B X 3 X H X W (Batch Size x Channel x Height x Width)
Our AI models are designed and/or optimized to run on NVIDIA GPU-accelerated systems. By leveraging NVIDIA’s hardware (e.g. GPU cores) and software frameworks (e.g., CUDA libraries), the model achieves faster training and inference times compared to CPU-only solutions.
Runtime Engines
Supported Hardware Microarchitecture Compatibility:
Preferred/Supported Operating System(s):
** The total size (in number of data points): 6.02M images
** Total number of datasets: 4 datasets
** Dataset partition: Training 5.99M, validation 29K
Data Collection Method by dataset:
Labeling Method by dataset:
Properties:
Dataset | No. of Images | Sensor |
---|---|---|
NV Internal Real Image Data | 3.6M | Automated |
NV Internal Real Image Data | 94K | RGB Camera |
NV Internal Synthetic Data | 2M | Synthetic |
Crestereo Synthetic Data | 196K | Synthetic |
Link:
**Benchmark Score
Accuracy was determined using the following metrics:
The results is zero-shot evaluation on the NYUDV2 dataset and relative depth (inverse depth) with scale-shift invariant accuracy is used to calculate the metric.
Method | AbsRel | D-1 |
---|---|---|
NvDepthAnythingV2 | 0.047 | 0.979 |
Data Collection Method by dataset:
Labeling Method by dataset:
Properties: 654 images and ground truth depth were used for evaluation.
Acceleration Engine: Onnx
Test Hardware [Name the specific test hardware model]
The inference performance of the provided NvRelativeDepthAnything model is evaluated at FP16 precisions. The model's input resolution is 3x518x914 pixels. The performance assessment was conducted using trtexec on a range of devices.
Platform | BS | FPS |
---|---|---|
Jetson AGX Orin | 32 | 3.705 |
Jetson AGX Thor | 32 | 3.339 |
L4 | 32 | 17.891 |
L40S | 32 | 62.520 |
A100 | 32 | 73.994 |
RTX PRO 6000 Blackwell | 32 | 112.972 |
H200 | 32 | 166.607 |
H100 | 32 | 172.782 |
B200 | 32 | 320.405 |
GB200 | 32 | 350.405 |
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