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ResearchFormerly WizWand

NOCS

Benchmarks

TaskDatasetSOTA resultTrendResults

Monocular Depth Estimation

NOCS (real)

98.43Delta-1 Accuracy

16

6D Pose Estimation

NOCS REAL275

85.8Accuracy (5°5cm)

14

9D pose estimation

NOCS-CAMERA25 13 (val)

83.5Success Rate (5°/5cm)

13

Pose Estimation

NOCS REAL275 (test)

0.835mAP (IoU=0.50)

10

Pose Estimation

NOCS (test)

83.5mAP IoU 50

10

Category-level 9D Pose Estimation

NOCS REAL275 (test)

36.1mAP (5° 5cm)

9

Semantic Segmentation

NOCS real

13.4mIoU

8

Category-level 6D object pose estimation

NOCS REAL275

63IoU@75

8

6D object pose tracking

NOCS (test)

87.45°5cm Accuracy

8

3D Object Detection

NOCS REAL275

84.8IoU@25%

6

6D Pose Estimation

NOCS CAMERA25

66.2Success Rate (5°5cm)

6

3D Object Detection

NOCS CAMERA25

93.8IoU@25

6

Shape Reconstruction

NOCS

0.55Shape Error (Bottle)

5

Category-level Pose Estimation

NOCS-REAL (test)

95.1IoU@0.25

5

3D shape reconstruction

NOCS REAL275

50Bottle Accuracy

3

3D shape reconstruction

NOCS CAMERA25

0.34Bottle IoU

3

Category-level Pose Estimation

NOCS Synthetic (test)

85.17IoU@0.75

3

Category-level 6D Object Pose Estimation

NOCS-REAL275 (test)

10.16Inference Speed (FPS)

2