\begin{tabular}{c | c | c | c | c | c}
{\bf Method} & {\bf SILog} & {\bf sqErrorRel} & {\bf absErrorRel} & {\bf iRMSE} & {\bf Runtime}\\ \hline
BANet \cite{aich2020bidirectional} & 11.61 & 2.29 \% & 9.38 \% & 12.23 & 0.04 s / GPU \\
BTS \cite{lee2019big} & 11.67 & 2.21 \% & 9.04 \% & 12.23 & 0.06 s / GPU \\
DL\_61 (DORN) \cite{fuhal01741163} & 11.77 & 2.23 \% & 8.78 \% & 12.98 & 0.5 s / GPU \\
RefinedMPL \cite{vianney2019refinedmpl} & 11.80 & 2.31 \% & 10.09 \% & 13.39 & 0.05 s / GPU \\
DL\_SORD\_SL \cite{Diaz2019CVPR} & 12.39 & 2.49 \% & 10.10 \% & 13.48 & 0.8 s / GPU \\
VNL \cite{wei2019enforcing} & 12.65 & 2.46 \% & 10.15 \% & 13.02 & 0.5 s / 1 core \\
DS-SIDENet\_ROB \cite{Ren2019robust} & 12.86 & 2.87 \% & 10.03 \% & 14.40 & 0.35 s / GPU \\
DL\_SORD\_SQ \cite{Diaz2019CVPR} & 13.00 & 2.95 \% & 10.38 \% & 13.78 & 0.88 s / GPU \\
PAP \cite{zhang2019pattern} & 13.08 & 2.72 \% & 10.27 \% & 13.95 & 0.18 s / GPU \\
VGG16-UNet \cite{guo2018learning} & 13.41 & 2.86 \% & 10.60 \% & 15.06 & 0.16 s / GPU \\
DORN\_ROB \cite{fuhal01741163} & 13.53 & 3.06 \% & 10.35 \% & 15.96 & 2 s / GPU \\
SSDE \cite{ERROR: Wrong syntax in BIBTEX file.} & 14.45 & 3.60 \% & 11.47 \% & 15.52 & 0.1 s / GPU \\
DABC\_ROB \cite{li2018deep} & 14.49 & 4.08 \% & 12.72 \% & 15.53 & 0.7 s / GPU \\
BTSREF\_RVC \cite{lee2019big} & 14.67 & 3.12 \% & 12.42 \% & 16.84 & 0.1 s / 1 core \\
SDNet \cite{OchsKretzMester2019} & 14.68 & 3.90 \% & 12.31 \% & 15.96 & 0.2 s / GPU \\
APMoE\_base\_ROB \cite{kong2018pag} & 14.74 & 3.88 \% & 11.74 \% & 15.63 & 0.2 s / GPU \\
CSWS\_E\_ROB \cite{boli2018} & 14.85 & 3.48 \% & 11.84 \% & 16.38 & 0.2 s / 1 core \\
HBC \cite{jiang2019hbc} & 15.18 & 3.79 \% & 12.33 \% & 17.86 & 0.05 s / GPU \\
SGDepth \cite{klingner2020selfsupervised} & 15.30 & 5.00 \% & 13.29 \% & 15.80 & 0.1 s / GPU \\
DHGRL \cite{Zhang2018Deep} & 15.47 & 4.04 \% & 12.52 \% & 15.72 & 0.2 s / GPU \\
packnSFMHR\_RVC \cite{packnet} & 15.80 & 4.73 \% & 12.28 \% & 17.96 & 0.5 s / GPU \\
LSIM \cite{goldman2019lsim} & 17.92 & 6.88 \% & 14.04 \% & 17.62 & 0.08 s / GPU
\end{tabular}