ResearchBenchmarks3D Pose Estimation on ApolloCar3D (val)3D Pose Estimation on ApolloCar3D (val)Follow17.1A3DP Relative Error (mean)SCF16.97617.81318.6519.487Sep 23, 2025Evaluation resultsMethodMethodLinksA3DP Relative Error (mean)A3DP Relative Error (c-l)A3DP Relative Error (c-s)GNC Iterations (mean)Inference Time (mean) (ms)SCF2025.0917.135.728.45.84.4G-N2025.0917.135.528.45.610.3L-M2025.0917.135.728.35.48Manopt2025.0917.135.728.46.917.7SCF*relaxation=O(3)relaxation=O(3)2025.0917.135.728.45.84.8PACE*variant=*variant=*2025.0917.235.728.45.311.2GSNet2025.0920.240.519.9—450