Table 6 Depth estimation results compared with ground truth depth data

Selected points

P₁

P₂

P₃

P₄

P₅

P₆

P₇

P₈

P₉

Ground truth, m

1.69

1.67

4.01

3.95

2.18

2.24

1.83

1.84

8.02

Estimated depth, m

1.64

1.63

4.16

4.07

2.13

2.18

1.79

1.81

8.57

Depth error ratio, %

2.96

2.40

3.74

3.04

2.29

2.68

2.19

1.63

6.86

Selected points

P₁₀

P₁₁

P₁₂

P₁₃

P₁₄

P₁₅

P₁₆

P₁₇

P₁₈

Ground truth, m

7.87

5.39

5.67

1.89

1.88

4.26

4.62

5.16

4.79

Estimated depth, m

8.36

5.16

5.39

1.92

1.93

4.37

4.76

5.35

4.98

Depth error ratio, %

6.22

4.27

4.94

1.59

2.66

2.58

3.03

3.68

3.97