Table 6.

Results of different structures on the CityScapes dataset.

Architecture	#P	Segmentation		Depth
		mIoU↑	Pix Acc↑	Abs Err↓	Rel Err↓
Single-Task	9.45 × 106	77.94	94.38	0.0223	49.5168
MTAN [9]	4.121 × 107	53.86	91.11	0.0144	33.63
Multi-Task	9.49 × 106	78.03	94.48	0.0261	34.0978
DAMAN [34]	-	55.45	92.07	0.0146	26.33
Cross-Stitch [35]	2.163 × 107	74.48	93.54	0.0257	47.9483
MTRAN	1.605 ×107	79.25	94.87	0.0218	38.0849