| Methods | KITTI 2015 | Middlebury |
| TUNet model | 9.7 | 21.2 |
| +Instance normalization layer | 8.3 | 19.1 |
| +Domain normalization layer | 8.1 | 18.3 |
| +Whitening loss (ATUNet) | 6.3 | 18.1 |