6D Object Pose Estimation on LINEMOD
100Cam AccuracyFoundationPose
Evaluation results
| Method | Links | |||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| FoundationPoseModality=RGBD, Finetune-free=true, Ref. images=162023.12 | 100 | 99.9 | 99 | — | 100 | 100 | 100 | 99.4 | 100 | 100 | 99.9 | 100 | 100 | 100 | — | — | — | — | — | — | — | — | 100 | |
| MAPRPoseYear=2026, Modality=RGBD2026.04 | 100 | 99.8 | 98.6 | 100 | 100 | 100 | 100 | 98.9 | 100 | 100 | 100 | 100 | 100 | 99.9 | — | — | — | — | — | — | — | — | — | |
| Geo6DYear=2025, Modality=RGBD2026.04 | 99.6 | 99.6 | 98.3 | 100 | 99.9 | 100 | 99.8 | 97.4 | 100 | 100 | 99.7 | 100 | 99.9 | 99.8 | — | — | — | — | — | — | — | — | — | |
| RePOSEInit. pose=PVNet2022.03 | 99.2 | 96.05 | 79.5 | 100 | 99.8 | 98.9 | 97.9 | 80.3 | 100 | 98.3 | 96.9 | 100 | 100 | 99.1 | — | — | — | — | — | — | — | — | — | |
| OA-PoseYear=2024, Modality=RGB2026.04 | 99.2 | 98.5 | 96.6 | 100 | 100 | 100 | 98.4 | 95.2 | 97.1 | 100 | 100 | 96.4 | 98.6 | 98.4 | — | — | — | — | — | — | — | — | — | |
| GS-PoseYear=2025, Modality=RGBD2026.04 | 99.1 | 97.3 | 97.9 | 98.9 | 97.6 | 98.9 | 93.7 | 97.8 | 97.1 | 97.4 | 98.8 | 99.6 | 94.2 | 93.8 | — | — | — | — | — | — | — | — | — | |
| EfficientPosephi=32020.11 | 98.53 | 97.35 | 89.43 | 99.71 | 99.7 | 96.21 | 99.5 | 89.2 | 100 | 100 | 95.72 | 99.08 | 100 | 98.46 | — | — | — | — | — | — | — | — | — | |
| RNNPoseInit. pose=PVNet2022.03 | 98.43 | 97.15 | 85.62 | 100 | 99.51 | 98.68 | 96.41 | 89.67 | 100 | 97.3 | 97.15 | 100 | 100 | 100 | — | — | — | — | — | — | — | — | — | |
| RNNPoseInit. pose=PoseCNN2022.03 | 98.04 | 97.43 | 88.19 | 100 | 99.31 | 98.39 | 96.41 | 89.3 | 99.53 | 99.71 | 97.43 | 100 | 100 | 100 | — | — | — | — | — | — | — | — | — | |
| ONDA-PoseYear=2025, Modality=RGB2026.04 | 98 | 93.2 | 83 | 99.9 | 99.5 | 96.4 | 99.4 | 76.5 | 96.3 | 87.1 | 83.4 | 99.6 | 98.9 | 93.4 | — | — | — | — | — | — | — | — | — | |
| EfficientPosephi=02020.11 | 97.94 | 97.35 | 87.71 | 99.71 | 98.52 | 98 | 99.9 | 90.99 | 100 | 100 | 95.15 | 99.69 | 100 | 97.98 | — | — | — | — | — | — | — | — | — | |
| DPOD+refinement=true2020.11 | 96.07 | 95.15 | 87.73 | 98.45 | 99.71 | 94.71 | 98.8 | 86.29 | 99.91 | 96.82 | 86.87 | 100 | 96.84 | 94.69 | — | — | — | — | — | — | — | — | — | |
| DPODInit. pose=self-designed2022.03 | 96.07 | 95.15 | 87.73 | 98.45 | 99.71 | 94.71 | 98.8 | 86.29 | 99.91 | 96.82 | 86.87 | 100 | 96.84 | 94.69 | — | — | — | — | — | — | — | — | — | |
| DeepIMInit. pose=PoseCNN2022.03 | 93.53 | 88.61 | 76.95 | 97.48 | 96.46 | 82.14 | 94.95 | 77.65 | 97.09 | 99.42 | 52.81 | 98.26 | 97.5 | 87.72 | — | — | — | — | — | — | — | — | — | |
| Single Shot 6DRefinement=false2017.11 | 93.24 | 90.37 | 92.1 | 95.06 | 97.44 | 97.41 | 79.41 | 94.65 | 90.33 | 96.53 | 92.86 | 82.94 | 76.87 | 86.07 | — | — | — | — | — | — | — | — | — | |
| CDPN2020.11 | 91.67 | 89.86 | 64.38 | 97.77 | 95.87 | 83.83 | 96.23 | 66.76 | 99.72 | 99.61 | 85.82 | 97.85 | 97.89 | 90.75 | — | — | — | — | — | — | — | — | — | |
| FS6D + ICPModality=RGBD, Finetune-free=false, Ref. images=162023.12 | 91 | 91.5 | 78 | — | 89.5 | 97.5 | 92 | 75.5 | 99.5 | 99.5 | 96 | 87.5 | 97 | 97.5 | — | — | — | — | — | — | — | — | 88.5 | |
| FS6D + ICPModality=RGBD, Ref. Images=162025.05 | 91 | 91.5 | 78 | 88.5 | 89.5 | 97.5 | 92 | 75.5 | 99.5 | 99.5 | 96 | 87.5 | 97 | 97.5 | — | — | — | — | — | — | — | — | — | |
| Hybrid-Pose2020.11 | 90.4 | 91.3 | 63.1 | 99.9 | 98.5 | 89.4 | 98.5 | 65 | 100 | 98.8 | 89.7 | 100 | 99.5 | 94.9 | — | — | — | — | — | — | — | — | — | |
| HybridPose2022.03 | 90.4 | 91.3 | 63.1 | 99.9 | 98.5 | 89.4 | 98.5 | 65 | 100 | 98.8 | 89.7 | 100 | 99.5 | 94.9 | — | — | — | — | — | — | — | — | — | |
| DPOD2020.11 | 90.36 | 82.98 | 53.28 | 95.34 | 94.1 | 60.38 | 97.72 | 66.01 | 99.72 | 93.83 | 65.83 | 99.8 | 88.11 | 74.24 | — | — | — | — | — | — | — | — | — | |
| FS6DModality=RGBD, Finetune-free=false, Ref. images=162023.12 | 88.5 | 88.9 | 74 | — | 86 | 98.5 | 81 | 68.5 | 100 | 99.5 | 97 | 92.5 | 85 | 99 | — | — | — | — | — | — | — | — | 86 | |
| FS6DYear=2022, Modality=RGBD2026.04 | 88.5 | 88.9 | 74 | 86 | 86 | 98.5 | 81 | 68.5 | 100 | 99.5 | 97 | 92.5 | 85 | 99 | — | — | — | — | — | — | — | — | — | |
| OnePoseModality=RGB, Finetune-free=true, Ref. images=2002023.12 | 88.1 | 63.6 | 11.8 | — | 77.2 | 47.9 | 74.5 | 34.2 | 71.3 | 37.5 | 54.9 | 89.2 | 87.6 | 60.6 | — | — | — | — | — | — | — | — | 92.6 | |
| OnePoseModality=RGB, Ref. Images=2002025.05 | 88.1 | 63.6 | 11.8 | 92.6 | 77.2 | 47.9 | 74.5 | 34.2 | 71.3 | 37.5 | 54.9 | 89.2 | 87.6 | 60.6 | — | — | — | — | — | — | — | — | — | |
| OnePoseYear=2022, Modality=RGB2026.04 | 88.1 | 63.6 | 11.8 | 92.6 | 77.2 | 47.9 | 74.5 | 34.2 | 71.3 | 37.5 | 54.9 | 89.2 | 87.6 | 60.6 | — | — | — | — | — | — | — | — | — | |
| OnePose++Modality=RGB, Finetune-free=true, Ref. images=2002023.12 | 88 | 76.9 | 31.2 | — | 89.8 | 70.4 | 92.5 | 42.3 | 99.7 | 48 | 69.7 | 97.4 | 97.8 | 76 | — | — | — | — | — | — | — | — | 97.3 | |
| OnePose++Modality=RGB, Ref. Images=2002025.05 | 88 | 76.9 | 31.2 | 97.3 | 89.8 | 70.4 | 92.5 | 42.3 | 99.7 | 48 | 69.7 | 97.4 | 97.8 | 76 | — | — | — | — | — | — | — | — | — | |
| OnePose++Year=2023, Modality=RGB2026.04 | 88 | 76.9 | 31.2 | 97.3 | 89.8 | 70.4 | 92.5 | 42.3 | 99.7 | 48 | 69.7 | 97.4 | 97.8 | 76 | — | — | — | — | — | — | — | — | — | |
| PVNetRefinement=w/o2018.12 | 86.86 | 86.27 | 43.62 | 99.9 | 95.47 | 79.34 | 96.43 | 52.58 | 99.15 | 95.66 | 81.92 | 98.88 | 99.33 | 92.41 | — | — | — | — | — | — | — | — | — | |
| PVNet2020.11 | 86.86 | 86.27 | 43.62 | 99.9 | 95.47 | 79.34 | 96.43 | 52.58 | 99.15 | 95.66 | 81.92 | 98.88 | 99.33 | 92.41 | — | — | — | — | — | — | — | — | — | |
| PVNet2022.03 | 86.86 | 86.27 | 43.62 | 99.9 | 95.47 | 79.34 | 96.43 | 52.58 | 99.15 | 95.66 | 81.92 | 98.88 | 99.33 | 92.41 | — | — | — | — | — | — | — | — | — | |
| BB8Refinement=true2017.11 | 86 | 89.3 | 96.6 | 90.1 | 91.2 | 98.8 | 80.9 | 92.2 | 91 | 92.3 | 95.3 | 84.8 | 75.8 | 85.3 | — | — | — | — | — | — | — | — | — | |
| FoundationPoseModality=RGBD, Ref. Images=1-CAD2025.05 | 84.2 | 48.3 | 36.5 | 55.5 | 71.7 | 65.3 | 16.3 | 49.8 | 42.6 | 64.8 | 52.7 | 20.7 | 15.8 | 51.7 | — | — | — | — | — | — | — | — | — | |
| BB8Refinement=false2017.11 | 80.9 | 83.9 | 95.3 | 80 | 84.1 | 97 | 74.1 | 81.2 | 87.9 | 89 | 90.5 | 78.9 | 74.4 | 77.6 | — | — | — | — | — | — | — | — | — | |
| SSD-6DRefinement=true2017.11 | 78 | 79 | 65 | 80 | 86 | 70 | 73 | 66 | 100 | 100 | 49 | 78 | 73 | 79 | — | — | — | — | — | — | — | — | — | |
| SSD-6DRefinement=w/2018.12 | 78 | 79 | 65 | 80 | 86 | 70 | 73 | 66 | 100 | 100 | 49 | 78 | 73 | 79 | — | — | — | — | — | — | — | — | — | |
| LatentFusionModality=RGBD, Finetune-free=true, Ref. images=162023.12 | 74.4 | 87.1 | 88 | — | 88.8 | 94.5 | 91.7 | 68.1 | 96.3 | 94.9 | 82.1 | 74.6 | 94.7 | 91.5 | — | — | — | — | — | — | — | — | 92.4 | |
| LatentFusionModality=RGBD, Ref. Images=162025.05 | 74.4 | 83.6 | 88 | 92.4 | 88.8 | 94.5 | 91.7 | 68.1 | 96.3 | 49.4 | 82.1 | 74.6 | 94.7 | 91.5 | — | — | — | — | — | — | — | — | — | |
| LatentFusionYear=2020, Modality=RGBD2026.04 | 74.4 | 87.1 | 88 | 92.4 | 88.8 | 94.5 | 91.7 | 68.1 | 96.3 | 94.9 | 82.1 | 74.6 | 94.7 | 91.5 | — | — | — | — | — | — | — | — | — | |
| One2AnyModality=RGBD, Ref. Images=12025.05 | 72.7 | 52.6 | 33.1 | 15.7 | 37 | 66.2 | 68.2 | 35.8 | 100 | 99.9 | 42 | 28.2 | 31.9 | 53.2 | — | — | — | — | — | — | — | — | — | |
| RePOSEInit. pose=PoseCNN2022.03 | 67 | 77.15 | 47.4 | 88.5 | 88 | 74.3 | 80.6 | 66.1 | 98.6 | 95.6 | 62.7 | 80.3 | 83.1 | 71.3 | — | — | — | — | — | — | — | — | — | |
| Pix2Pose2020.11 | 60.9 | 72.4 | 58.1 | 91 | 84.4 | 65 | 76.3 | 43.8 | 96.8 | 79.4 | 74.8 | 83.4 | 82 | 45 | — | — | — | — | — | — | — | — | — | |
| Gen6DModality=RGB, Finetune-free=false, Ref. images=2002023.12 | 60.7 | — | 77 | — | — | — | 67.4 | 40.5 | 95.7 | 87.2 | — | — | — | — | — | — | — | — | — | — | — | — | 66.1 | |
| BrachmannRefinement=true2017.11 | 58.7 | 73.7 | 85.2 | 67.9 | 70.8 | 84.2 | 73.9 | 73.1 | 83.1 | 74.2 | 78.9 | 83.6 | 64 | 60.6 | — | — | — | — | — | — | — | — | — | |
| BB8Refinement=true2017.11 | 55.7 | 62.7 | 40.4 | 91.8 | 64.1 | 62.6 | 74.4 | 44.3 | 57.8 | 41.2 | 67.2 | 84.7 | 76.5 | 54 | — | — | — | — | — | — | — | — | — | |
| BB8Refinement=w/2018.12 | 55.7 | 62.7 | 40.4 | 91.8 | 64.1 | 62.6 | 74.4 | 44.3 | 57.8 | 41.2 | 67.2 | 84.7 | 76.5 | 54 | — | — | — | — | — | — | — | — | — | |
| PoseCNN2022.03 | 47.25 | 63.26 | 25.62 | 77.11 | 69.98 | 56.09 | 64.92 | 41.78 | 98.5 | 94.98 | 52.24 | 70.17 | 70.73 | 53.07 | — | — | — | — | — | — | — | — | — | |
| Gen6DYear=2022, Modality=RGB2026.04 | 45.6 | — | — | 62.1 | — | 40.9 | 48.8 | 16.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Gen6D*Modality=RGB, Finetune-free=true, Ref. images=2002023.12 | 40.9 | — | 62.1 | — | 48.8 | 16.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 45.6 | |
| BB8Refinement=false2017.11 | 40.1 | 43.6 | 27.9 | 62 | 48.1 | 45.2 | 58.6 | 32.8 | 40 | 27 | 42.4 | 67 | 39.9 | 35.2 | — | — | — | — | — | — | — | — | — | |
| BrachmannRefinement=true2017.11 | 38.4 | 50.2 | 33.2 | 64.8 | 62.9 | 42.7 | 61.9 | 30.2 | 49.9 | 31.2 | 52.8 | 80 | 67 | 38.1 | — | — | — | — | — | — | — | — | — | |
| Single Shot 6DRefinement=false2017.11 | 36.57 | 55.95 | 21.62 | 81.8 | 68.8 | 41.82 | 63.51 | 27.23 | 69.58 | 80.02 | 42.63 | 74.97 | 71.11 | 47.74 | — | — | — | — | — | — | — | — | — | |
| TekinRefinement=w/o2018.12 | 36.57 | 55.95 | 21.62 | 81.8 | 68.8 | 41.82 | 63.51 | 27.23 | 69.58 | 80.02 | 42.63 | 74.97 | 71.11 | 47.74 | — | — | — | — | — | — | — | — | — | |
| YOLO6D2020.11 | 36.57 | 55.95 | 21.62 | 81.8 | 68.8 | 41.82 | 63.51 | 27.23 | 69.58 | 80.02 | 42.63 | 74.97 | 71.11 | 47.74 | — | — | — | — | — | — | — | — | — | |
| BB8Refinement=w/o2018.12 | 10.1 | 43.6 | 27.9 | 62 | 48.1 | 45.2 | 58.6 | 32.8 | 40 | 27 | 42.4 | 67 | 39.9 | 35.2 | — | — | — | — | — | — | — | — | — | |
| OryonModality=RGBD, Ref. Images=12025.05 | 3.9 | 9.8 | 1.2 | 1.3 | 0.8 | 12.7 | 8.5 | 0.8 | 63.2 | 18.4 | 1.6 | 0.6 | 2.9 | 11.7 | — | — | — | — | — | — | — | — | — | |
| NOPEModality=RGB, Ref. Images=1 + GT trans2025.05 | 2.5 | 16.3 | 2 | 4.5 | 2.2 | 0.7 | 4.7 | 0.5 | 100 | 79.4 | 2.9 | 4.5 | 4.2 | 3.9 | — | — | — | — | — | — | — | — | — | |
| SSD-6DRefinement=false2017.11 | 0.41 | 2.42 | 0 | 0.18 | 1.35 | 0.51 | 2.58 | 0 | 8.9 | 0 | 0.3 | 8.86 | 8.2 | 0.18 | — | — | — | — | — | — | — | — | — | |
| SSD-6DRefinement=w/o2018.12 | 0.41 | 2.42 | 0 | 0.18 | 1.35 | 0.51 | 2.58 | 0 | 8.9 | 0 | 0.3 | 8.86 | 8.2 | 0.18 | — | — | — | — | — | — | — | — | — | |
| AAEGeneralization=Single Trained Object, Train Data=Syn. Only, Input=RGBD, ICP=true2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 71.6 | — | — | — | — | — | |
| BrachmannRefinement=false2017.11 | — | 69.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BrachmannRefinement=false2017.11 | — | 32.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CDPNInput=RGB, Speed(FPS)=332021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.9 | — | — | — | — | — | — | — | — | |
| CloudAAEGeneralization=Multi-Trained Objects, Train Data=Real (+Syn.), Input=D, ICP=false, Mask Source=Ground Truth2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.8 | — | — | — | — | — | |
| CloudAAEGeneralization=Multi-Trained Objects, Train Data=Real (+Syn.), Input=D, ICP=true, Mask Source=Ground Truth2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 95.5 | — | — | — | — | — | |
| CloudAAEGeneralization=Multi-Trained Objects, Train Data=Syn. Only, Input=D, ICP=false, Mask Source=Ground Truth2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 82.1 | — | — | — | — | — | |
| CloudAAEGeneralization=Multi-Trained Objects, Train Data=Syn. Only, Input=D, ICP=true, Mask Source=Ground Truth2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 92.5 | — | — | — | — | — | |
| CloudPoseGeneralization=Multi-Trained Objects, Train Data=Syn. Only, Input=D, ICP=true, Mask Source=Ground Truth2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 75.2 | — | — | — | — | — | |
| DCP2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6 | 22 | 11 | 27 | — | |
| DeepIMInitialization=PoseCNN [6]2020.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 88.33 | 97.53 | 85.21 | — | — | — | — | — | — | |
| DensefusionInput=RGBD, Speed(FPS)=162021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 94.3 | — | — | — | — | — | — | — | — | |
| DenseFusionGeneralization=Multi-Trained Objects, Train Data=Real (+Syn.), Input=RGBD, ICP=false2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 94.3 | — | — | — | — | — | |
| Diff-DCP2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 22 | 51 | 65 | 82 | — | |
| Diff-RPMNet2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 18 | 47 | 51 | 72 | — | |
| DPODInput=RGB, Speed(FPS)=332021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 95.2 | — | — | — | — | — | — | — | — | |
| FFB6DGeneralization=Single Trained Object, Train Data=Real (+Syn.), Input=RGBD, ICP=false2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99.7 | — | — | — | — | — | |
| FGR2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0 | 0 | 5 | 31 | — | |
| FMR2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0 | 1 | 7 | 17 | — | |
| FS-NetInput=RGBD, Speed(FPS)=202021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 97.6 | — | — | — | — | — | — | — | — | |
| G2L-NetInput=RGBD, Speed(FPS)=232021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 98.7 | — | — | — | — | — | — | — | — | |
| G2LNetGeneralization=Single Trained Object, Train Data=Real (+Syn.), Input=RGBD, ICP=false2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 98.7 | — | — | — | — | — | |
| ICP2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0 | 1 | 4 | 27 | — | |
| IDAM2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0 | 1 | 3 | 16 | — | |
| LatentFusionGeneralization=Universal Objects, Train Data=Syn. Only, Input=RGBD, ICP=false, Mask Source=Ground Truth2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 87.1 | — | — | — | — | — | |
| MN-DCP2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 10 | 27 | 26 | 60 | — | |
| MN-IDAM2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1 | 7 | 13 | 38 | — | |
| OVE6DGeneralization=Universal Objects, Train Data=Syn. Only, Input=D, ICP=false, Mask Source=Ground Truth2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 96.4 | — | — | — | — | — | |
| OVE6DGeneralization=Universal Objects, Train Data=Syn. Only, Input=D, ICP=true, Mask Source=Ground Truth2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 98.3 | — | — | — | — | — | |
| OVE6DGeneralization=Universal Objects, Train Data=Syn. Only, Input=D, ICP=true, Mask Source=Ground Truth, ICP Refinement Mode=Before selection for all pose proposals2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 98.7 | — | — | — | — | — | |
| OVE6DGeneralization=Universal Objects, Train Data=Syn. Only, Input=D, ICP=false, Mask Source=Mask-RCNN2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.1 | — | — | — | — | — | |
| OVE6DGeneralization=Universal Objects, Train Data=Syn. Only, Input=D, ICP=true, Mask Source=Mask-RCNN2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.4 | — | — | — | — | — | |
| OVE6DGeneralization=Universal Objects, Train Data=Syn. Only, Input=D, ICP=true, Mask Source=Mask-RCNN, ICP Refinement Mode=Before selection for all pose proposals2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 92.4 | — | — | — | — | — | |
| PoseCNNRefinement=None2020.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 62.04 | 64.52 | 18.14 | — | — | — | — | — | — | |
| PPCInitialization=PoseCNN [6]2020.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 88.67 | 97.6 | 89.74 | — | — | — | — | — | — | |
| PR-GCNGeneralization=Multi-Trained Objects, Train Data=Real (+Syn.), Input=RGBD, ICP=false2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99.6 | — | — | — | — | — | |
| PVN3DInput=RGBD, Speed(FPS)=52021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99.4 | — | — | — | — | — | — | — | — | |
| PVN3DGeneralization=Single Trained Object, Train Data=Real (+Syn.), Input=RGBD, ICP=false2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99.4 | — | — | — | — | — | |
| PVNetInput=RGB, Speed(FPS)=252021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.3 | — | — | — | — | — | — | — | — | |
| RGM2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0 | 0 | 7 | 15 | — |