6-DoF Pose Tracking on YCBInEOAT
26.3ATEProxyPose
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| ProxyPoseNumber of Queries=32026.07 | 26.3 | 6.48 | 4.44 | 2.15 | 7.77 | |
| ProxyPose (three queries)3D Model=false, Depth=false, Obj. Mask=true2026.07 | 26.32 | 6.476 | 4.435 | 2.153 | 7.77 | |
| ProxyPose (one query)3D Model=false, Depth=false, Obj. Mask=false2026.07 | 30.07 | 15.07 | 4.33 | 2.63 | 8.496 | |
| ProxyPoseNumber of Queries=12026.07 | 30.1 | 15.1 | 4.33 | 2.63 | 8.5 | |
| ProxyPoseNumber of Queries=22026.07 | 31.6 | 7.76 | 4.82 | 2.27 | 7.97 | |
| ProxyPose (two queries)3D Model=false, Depth=false, Obj. Mask=true2026.07 | 31.62 | 7.764 | 4.82 | 2.269 | 7.969 | |
| SpatialTrackerV2 (object level)3D Model=false, Depth=true, Obj. Mask=true2026.07 | 32.57 | 22.35 | 5.706 | 3.227 | 8.411 | |
| SpatialTrackerV2Spatial Level=object level2026.07 | 32.6 | 22.4 | 5.71 | 3.23 | 8.41 | |
| SpatialTrackerV2Spatial Level=pixel level2026.07 | 33 | 23.3 | 6.44 | 8.5 | 7.49 | |
| SpatialTrackerV2 (pixel level)3D Model=false, Depth=true, Obj. Mask=false2026.07 | 33.01 | 23.3 | 6.441 | 8.496 | 7.487 | |
| One2Any2026.07 | 35.3 | 34 | 10.8 | 10.3 | 23.3 | |
| One2Any3D Model=false, Depth=true, Obj. Mask=true2026.07 | 35.31 | 33.99 | 10.78 | 10.29 | 23.33 | |
| Oryon3D Model=true, Depth=false, Obj. Mask=false2026.07 | 41.17 | 41.45 | 20.88 | 34.07 | 25.63 | |
| Oryon2026.07 | 41.2 | 41.5 | 20.9 | 34.1 | 25.6 | |
| BundleSDF3D Model=false, Depth=true, Obj. Mask=true2026.07 | 42.06 | 13.88 | 10.34 | 4.255 | 6.792 | |
| BundleSDF2026.07 | 42.1 | 13.9 | 10.3 | 4.26 | 6.79 | |
| ConceptPose2026.07 | 43 | 68.4 | 37.5 | 75.7 | 26.4 | |
| ConceptPose3D Model=false, Depth=true, Obj. Mask=true2026.07 | 43.04 | 68.38 | 37.52 | 75.67 | 26.42 | |
| CoTracker 3 + DA3 (object level)3D Model=false, Depth=true, Obj. Mask=true2026.07 | 44.8 | 17.12 | 10.79 | 4.94 | 7.836 | |
| CoTracker 3 + DA3Spatial Level=object level, Depth Input=DA32026.07 | 44.8 | 17.1 | 10.8 | 4.94 | 7.84 | |
| CoTracker 3 + DA3 (pixel level)3D Model=false, Depth=true, Obj. Mask=false2026.07 | 47.65 | 24.56 | 10.67 | 6.503 | 7.003 | |
| CoTracker 3 + DA3Spatial Level=pixel level, Depth Input=DA32026.07 | 47.7 | 24.6 | 10.7 | 6.5 | 7 | |
| FoundationPose (track)3D Model=true, Depth=true, Obj. Mask=false2026.07 | 50.19 | 18.58 | 11.17 | 3.579 | 10.97 | |
| FoundationPoseProtocol=track2026.07 | 50.2 | 18.6 | 11.2 | 3.58 | 11 | |
| Any6D3D Model=false, Depth=true, Obj. Mask=true2026.07 | 86.26 | 67.46 | 35.7 | 37.38 | 37.53 | |
| Any6D2026.07 | 86.3 | 67.5 | 35.7 | 37.4 | 37.5 | |
| FoundationPoseProtocol=registration2026.07 | 95.8 | 118 | 47.4 | 71.1 | 31.2 | |
| FoundationPose (registration)3D Model=true, Depth=true, Obj. Mask=false2026.07 | 95.84 | 118.3 | 47.35 | 71.12 | 31.19 |