6D Object Pose Estimation on LINEMOD (test)
9.8ADD (0.1d) ErrorOryon
Evaluation results
| Method | Links | ||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OryonYear=2024, Modality=RGB-D, Reference Number=1, Reference type=Real-world2026.05 | 9.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.2 | 1.3 | 3.9 | 0.8 | 12.7 | 8.5 | 0.8 | 63.2 | 18.4 | 1.6 | 0.6 | 2.9 | 11.7 | 900 | |
| NOPEYear=2024, Modality=RGB, Reference Number=1 + GT, Reference type=Real-world2026.05 | 16.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2 | 4.5 | 2.5 | 2.2 | 0.7 | 4.7 | 0.5 | 100 | 79.4 | 2.9 | 4.5 | 4.2 | 3.9 | 1,190 | |
| One2AnyYear=2025, Modality=RGB-D, Reference Number=1, Reference type=Real-world2026.05 | 52.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 33.1 | 15.7 | 72.7 | 37 | 66.2 | 68.2 | 35.8 | 100 | 99.9 | 42 | 28.2 | 31.9 | 53.2 | 90 | |
| PoseCNN2023.06 | 63.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OnePoseYear=2022, Modality=RGB, Reference Number=200, Reference type=Real-world2026.05 | 63.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 11.8 | 92.6 | 88.1 | 77.2 | 47.9 | 74.5 | 34.2 | 71.3 | 37.5 | 54.9 | 89.2 | 87.6 | 60.6 | 66 | |
| OnePose++Year=2023, Modality=RGB, Reference Number=200, Reference type=Real-world2026.05 | 76.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 31.2 | 97.3 | 88 | 89.8 | 70.4 | 92.5 | 42.3 | 99.7 | 48 | 69.7 | 97.4 | 97.8 | 76 | 88 | |
| LatentFusionYear=2020, Modality=RGB-D, Reference Number=16, Reference type=Real-world2026.05 | 83.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 88 | 92.4 | 74.4 | 88.9 | 94.5 | 91.7 | 68.1 | 96.3 | 49.4 | 82.1 | 74.6 | 94.7 | 91.5 | — | |
| iG-6DoFYear=2025, Modality=RGB, Reference Number=16, Reference type=Real-world2026.05 | 85.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.3 | 96.3 | 88.6 | 92.1 | 83.2 | 88.6 | 73.3 | 99.6 | 81.3 | 94.3 | 81.3 | 88.6 | 73.1 | 500 | |
| PVNet2023.06 | 86.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepIM2023.06 | 88.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FS6DYear=2022, Modality=RGB-D, Reference Number=16, Reference type=Real-world2026.05 | 88.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 74 | 86 | 88.5 | 86 | 98.5 | 81 | 68.5 | 100 | 99.5 | 97 | 92.5 | 85 | 99 | 72 | |
| OneViewAllYear=2026, Modality=RGB-D, Reference Number=1, Reference type=Real-world, N=122026.05 | 89.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 62.6 | 98.9 | 84 | 94.3 | 95.9 | 92.9 | 96.4 | 85.1 | 94.5 | 95.9 | 98.5 | 93.3 | 76.5 | 80 | |
| SinRef-6DYear=2025, Modality=RGB-D, Reference Number=1, Reference type=Rendered2026.05 | 90.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 85.7 | 99.3 | 73.2 | 98.3 | 93 | 98.7 | 66.6 | 98.5 | 99.1 | 74.6 | 90.9 | 97.6 | 97.4 | — | |
| OneViewAllYear=2026, Modality=RGB-D, Reference Number=1, Reference type=Rendered, N=122026.05 | 91.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 88.3 | 96.9 | 89.8 | 94.2 | 96.3 | 94.3 | 95 | 79.7 | 95.1 | 92.2 | 95.3 | 89.1 | 80.8 | 80 | |
| FS6D + ICPYear=2022, Modality=RGB-D, Reference Number=16, Reference type=Real-world2026.05 | 91.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 78 | 88.5 | 91 | 89.5 | 97.5 | 92 | 75.5 | 99.5 | 99.5 | 96 | 87.5 | 97 | 97.5 | 185 | |
| OneViewAllYear=2026, Modality=RGB-D, Reference Number=1, Reference type=Real-world, N=782026.05 | 92.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 60.1 | 100 | 88 | 95.7 | 96.9 | 99.8 | 97.1 | 88.9 | 94.9 | 99.4 | 99.9 | 99.4 | 82.5 | 375 | |
| PFA2023.06 | 95.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SO-Pose2023.06 | 96 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RePose2023.06 | 96.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RNNPose2023.06 | 97.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OneViewAllYear=2026, Modality=RGB-D, Reference Number=1, Reference type=Rendered, N=782026.05 | 99.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 97.7 | 99.8 | 99.7 | 99.7 | 99.9 | 100 | 99.4 | 96.9 | 99.8 | 98.1 | 100 | 100 | 97.1 | 375 | |
| SCFlow2023.06 | 99.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BB82020.01 | — | 40.4 | 91.8 | 55.7 | 64.1 | 62.6 | 74.4 | 44.3 | 57.8 | 41.2 | 67.2 | 84.7 | 76.5 | 54 | 62.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BPnPLoss function=ln, Pixel threshold (ψ)=52019.09 | — | 99.5 | 99.25 | 98.75 | 99.5 | 99.5 | 99 | 99 | 99.5 | 99.5 | 99.75 | 98.5 | 98.75 | 99.25 | 99.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BPnPLoss function=lp, Pixel threshold (ψ)=52019.09 | — | 99.5 | 98.75 | 98.5 | 99.5 | 99.5 | 98.5 | 99.25 | 99.25 | 99.5 | 99.5 | 98.25 | 98 | 99 | 99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BPnPLoss function=lm, Pixel threshold (ψ)=52019.09 | — | 99.5 | 99.25 | 99.25 | 99.75 | 99.5 | 98.5 | 99 | 99.5 | 99.5 | 99.75 | 98.5 | 98.5 | 99.25 | 99.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CDPN2020.01 | — | 64.4 | 97.8 | 91.7 | 95.9 | 83.8 | 96.2 | 66.8 | 99.7 | 99.6 | 85.8 | 97.9 | 97.9 | 90.8 | 89.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CDPNRefinement=None2021.10 | — | 64.38 | 97.77 | 91.67 | 95.87 | 83.83 | 96.23 | 66.76 | 99.72 | 99.61 | 85.82 | 97.85 | 97.89 | 90.75 | 89.86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepIMRefinement=With2021.10 | — | 77 | 97.5 | 93.5 | 96.5 | 82.1 | 95 | 77.7 | 97.1 | 99.4 | 52.8 | 98.3 | 97.5 | 87.7 | 88.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepIMMode=RGB2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 88.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionMode=RGB-D2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 94.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPOD2020.01 | — | 87.7 | 98.5 | 96.1 | 99.7 | 94.7 | 98.8 | 86.3 | 99.9 | 96.8 | 86.9 | 100 | 96.8 | 94.7 | 95.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPODRefinement=None2021.10 | — | 53.28 | 95.34 | 90.36 | 94.1 | 60.38 | 97.72 | 66.01 | 99.72 | 93.83 | 65.83 | 99.8 | 88.11 | 74.24 | 82.98 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPODMode=RGB2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 83 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPODMode=RGB + D ref, refinement=true2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 95.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPOD+Refinement=With2021.10 | — | 87.7 | 98.5 | 96.1 | 99.7 | 94.7 | 98.8 | 86.3 | 99.9 | 96.8 | 86.9 | 100 | 96.8 | 94.7 | 95.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FFB6DMode=RGB-D2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GDRRefinement=None2021.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 93.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GDR-NetMode=RGB2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 93.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HybridPose2020.01 | — | 63.1 | 99.9 | 90.4 | 98.5 | 89.4 | 98.5 | 65 | 100 | 98.8 | 89.7 | 100 | 99.5 | 94.9 | 91.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HybridPoseRefinement=With2021.10 | — | 63.1 | 99.9 | 90.4 | 98.5 | 89.4 | 98.5 | 65 | 100 | 98.8 | 89.7 | 100 | 99.5 | 94.9 | 91.36 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pix2Pose2020.01 | — | 58.1 | 91 | 60.9 | 84.4 | 65 | 76.3 | 43.8 | 96.8 | 79.4 | 74.8 | 83.4 | 82 | 45 | 72.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pix2PoseRefinement=None2021.10 | — | 58.1 | 91 | 60.9 | 84.4 | 65 | 76.3 | 43.8 | 96.8 | 79.4 | 74.8 | 83.4 | 82 | 45 | 72.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pix2PoseMode=RGB2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 72.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPRNMode=RGB2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 93.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PR-GCNMode=RGB-D2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVN3DMode=RGB-D2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVNetPixel threshold (ψ)=52019.09 | — | 99.23 | 99.81 | 99.21 | 99.9 | 99.3 | 96.92 | 98.02 | 99.34 | 98.45 | 100 | 99.18 | 98.27 | 99.42 | 99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVNet2020.01 | — | 43.6 | 99.9 | 86.9 | 95.5 | 79.3 | 96.4 | 52.6 | 99.2 | 95.7 | 81.9 | 98.9 | 99.3 | 92.4 | 86.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVNetRefinement=None2021.10 | — | 43.62 | 99.9 | 86.86 | 95.47 | 79.34 | 96.43 | 52.58 | 99.15 | 95.66 | 81.92 | 98.88 | 99.33 | 92.41 | 86.27 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVNetMode=RGB2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RCVPoseMode=RGB-D2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RCVPoseMode=RGB-D, refinement=ICP2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ROPERefinement=None2021.10 | — | 81.52 | 100 | 96.86 | 98.72 | 94.71 | 99.01 | 85.35 | 100 | 99.42 | 90.39 | 100 | 99.42 | 97.64 | 95.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SO-PoseMode=RGB2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 96 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSD-6DRefinement=With2021.10 | — | 65 | 80 | 78 | 86 | 70 | 73 | 66 | 100 | 100 | 49 | 78 | 73 | 79 | 76.69 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSD6DMode=RGB2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 9.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSD6DMode=RGB + D ref, refinement=true2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 34.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Tekin2020.01 | — | 21.6 | 81.8 | 36.6 | 68.8 | 41.8 | 63.5 | 27.2 | 69.6 | 80 | 42.6 | 75 | 71.1 | 47.7 | 56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| YOLO6DMode=RGB2021.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — |