6-DoF Pose Estimation on UAV-MM3D
10.57Rotational ErrorLGFusionNet
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| LGFusionNetModality Fusion=LiDAR-guided Fusion, Target Encoding=Center&DAP Encoding, Backbone=ResNet502025.11 | 10.57 | 3.64 | 0.35 | 45.35 | 26.72 | |
| LGFusionNetModality Fusion=Late Fusion‡, Target Encoding=Center&DAP Encoding, Backbone=ResNet502025.11 | 12.48 | 3.95 | 0.37 | 43.89 | 23.11 | |
| Center-based RegressionModality Fusion=Late Fusion†, Target Encoding=Center Encoding, Backbone=ResNet502025.11 | 17.84 | 4.92 | 0.39 | 43.67 | 17.38 | |
| Center-based RegressionModality Fusion=IR-only, Target Encoding=Center Encoding, Backbone=ResNet502025.11 | 19.29 | 5.76 | 0.4 | 42.15 | — | |
| Center-based RegressionModality Fusion=RGB-only, Target Encoding=Center Encoding, Backbone=ResNet502025.11 | 21.65 | 6.48 | 0.42 | 41.28 | 13.07 | |
| YOLO-6DModality Fusion=Late Fusion†, Target Encoding=Keypoint Encoding, Backbone=ResNet502025.11 | 22.73 | 5.95 | 0.4 | 40.51 | 13.89 | |
| YOLO-6DModality Fusion=IR-only, Target Encoding=Keypoint Encoding, Backbone=ResNet502025.11 | 24.15 | 6.83 | 0.41 | 38.92 | 12.26 | |
| YOLO-6DModality Fusion=RGB-only, Target Encoding=Keypoint Encoding, Backbone=ResNet502025.11 | 26.47 | 7.21 | 0.43 | 36.44 | 11.78 |