6D Object Pose Estimation on LM-O (test)
89.6Recall (Mean)HiPose
Evaluation results
| Method | Links | ||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| HiPoseInput modality=RGB-D2023.11 | 89.6 | — | — | — | — | — | — | — | — | — | 78 | 98.9 | 87.5 | 97.8 | 85.3 | 80.3 | 94.1 | 95.2 | — | — | — | — | |
| DFTrInput modality=RGB-D2023.11 | 77.7 | — | — | — | — | — | — | — | — | — | 64.1 | 96.1 | 52.2 | 95.8 | 72.3 | 75.3 | 79.3 | 86.8 | — | — | — | — | |
| ZebraPoseInput modality=RGB2023.11 | 76.9 | — | — | — | — | — | — | — | — | — | 57.9 | 95 | 60.6 | 94.8 | 64.5 | 70.9 | 88.7 | 83 | — | — | — | — | |
| RCVPoseInput modality=RGB-D2023.11 | 70.2 | — | — | — | — | — | — | — | — | — | 60.3 | 92.5 | 50.2 | 78.2 | 52.1 | 81.2 | 72.1 | 75.2 | — | — | — | — | |
| ZTE-PPFSeg. Model=MRCNN [28], Modality=D, Ref. Type=Model, Time (s)=0.742024.11 | 66.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FFB6DInput modality=RGB-D2023.11 | 66.2 | — | — | — | — | — | — | — | — | — | 47.2 | 85.2 | 45.7 | 81.4 | 53.9 | 70.2 | 60.1 | 85.9 | — | — | — | — | |
| PR-GCNInput modality=RGB-D2023.11 | 65 | — | — | — | — | — | — | — | — | — | 40.2 | 76.2 | 57 | 83.2 | 30 | 68.2 | 67 | 97.2 | — | — | — | — | |
| Koenig-PPFSeg. Model=Retina/MRCNN, Modality=RGB-D, Ref. Type=Model, Time (s)=0.992024.11 | 63.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GDR-NetInput modality=RGB2023.11 | 62.2 | — | — | — | — | — | — | — | — | — | 46.8 | 90.8 | 40.5 | 82.6 | 46.9 | 54.2 | 75.8 | 60.1 | — | — | — | — | |
| UNOPoseSeg. Model=UNOSeg-SAM, Modality=RGB-D, Ref. Type=Image, Time (s)=3.72024.11 | 58.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UNOPoseSeg. Model=UNOSeg-FastSAM, Modality=RGB-D, Ref. Type=Image, Time (s)=1.112024.11 | 55.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SAM-6D*Seg. Model=UNOSeg-SAM, Modality=RGB-D, Ref. Type=Posed Image, Time (s)=4.212024.11 | 54.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FreeZeSeg. Model=UNOSeg-SAM, Modality=RGB-D, Ref. Type=Image, Time (s)=52.962024.11 | 45.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPF_3D_ICPSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=14.272024.11 | 44.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeDiSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=48.892024.11 | 42.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCGF+RANSACSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=10.962024.11 | 38.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCGF+MACSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=60.532024.11 | 33.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FPFH+RANSACSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=6.382024.11 | 31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPFSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=11.792024.11 | 29.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Ref. AlignCenterSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=2.692024.11 | 27.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FPFH+MACSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=136.942024.11 | 22.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UTOPICSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=42024.11 | 13.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 6D-DiffInput=RGB2023.12 | — | 60.6 | 97.9 | 63.2 | 96.6 | 67.2 | 73.5 | 92 | 85.5 | 79.6 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Any-6DYear=2025, Image-to-3D=Wonder3D2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 28.6 | 36.1 | 32 | 17.6 | |
| Any-6DYear=2025, Image-to-3D=InstantMesh [55]2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 25.2 | 29.5 | 27.4 | 18.7 | |
| Any6D# Posed Ref.=1, Model-free=true2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 28.6 | — | — | — | |
| CheckerPoseInput=RGB2023.12 | — | 58.3 | 95.7 | 62.3 | 93.7 | 69.9 | 70 | 86.4 | 83.8 | 77.5 | — | — | — | — | — | — | — | — | — | — | — | — | |
| CRT-6DInput=RGB2023.12 | — | 53.4 | 92 | 42 | 81.4 | 44.9 | 62.7 | 80.2 | 74.3 | 66.3 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepIMRefinement=true, Training data=real + syn2022.04 | — | 59.2 | 63.5 | 26.2 | 55.6 | 52.4 | 63 | 71.7 | 52.5 | 55.5 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepIMInput=RGB2023.12 | — | 59.2 | 63.5 | 26.2 | 55.6 | 52.4 | 63 | 71.7 | 52.5 | 55.5 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DGECNRefinement=false, Training data=real + syn2022.04 | — | 50.3 | 75.9 | 26.4 | 77.5 | 54.2 | 57.8 | 66.9 | 60.2 | 58.7 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPODRefinement=true, Training data=real + syn2022.04 | — | — | — | — | — | — | — | — | — | 47.3 | — | — | — | — | — | — | — | — | — | — | — | — | |
| FoundPose# Posed Ref.=57, Model-free=false, Time(s)=1.72026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.7 | — | — | — | |
| FoundPose# Posed Ref.=8, Model-free=true, Time(s)=1.72026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 34.7 | — | — | — | |
| GDR-NetRefinement=false, Training data=real + syn2022.04 | — | 41.3 | 71.1 | 23.5 | 54.6 | 41.7 | 40.2 | 59.5 | 52.6 | 47.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| GDR-NetInput=RGB2023.12 | — | 46.8 | 90.8 | 40.5 | 82.6 | 46.9 | 54.2 | 75.8 | 60.1 | 62.2 | — | — | — | — | — | — | — | — | — | — | — | — | |
| GenFlow# Posed Ref.=208, Model-free=false2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 25 | — | — | — | |
| GigaPoseYear=2024, Image-to-3D=Wonder3D [69]2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 17.5 | 35.8 | 9 | 7.6 | |
| GigaPose# Posed Ref.=162, Model-free=false, Time(s)=11.532026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 29.9 | — | — | — | |
| HybridPoseRefinement=false, Training data=real + syn2022.04 | — | 20.9 | 75.3 | 24.9 | 70.2 | 27.9 | 52.4 | 53.8 | 54.2 | 47.5 | — | — | — | — | — | — | — | — | — | — | — | — | |
| HybridPoseInput=RGB2023.12 | — | 20.9 | 75.3 | 24.9 | 70.2 | 27.9 | 52.4 | 53.8 | 54.2 | 47.5 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MegaPose# Posed Ref.=520, Model-free=false, Time(s)=2.532026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 22.9 | — | — | — | |
| One2Any# Posed Ref.=1, Model-free=true, Time(s)=0.092026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 18.2 | — | — | — | |
| OneViewAllYear=2026, Image-to-3D=N/A2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63 | 59.5 | 62.4 | 61.6 | |
| PANY# Posed Ref.=1 + 8 unposed, Model-free=true, Time(s)=0.752026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 42.3 | — | — | — | |
| PANY# Posed Ref.=1, Model-free=true, Time(s)=0.192026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 36.9 | — | — | — | |
| PoseCNNRefinement=false, Training data=real + syn2022.04 | — | 9.6 | 45.2 | 0.9 | 41.4 | 19.6 | 22 | 38.5 | 22.1 | 24.9 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVNetRefinement=false, Training data=real + syn2022.04 | — | 15.8 | 63.3 | 16.7 | 65.7 | 25.2 | 50.2 | 49.6 | 36.1 | 40.8 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVNetInput=RGB2023.12 | — | 15.8 | 63.3 | 16.7 | 65.7 | 25.2 | 50.2 | 49.6 | 39.7 | 40.8 | — | — | — | — | — | — | — | — | — | — | — | — | |
| RayPose# Posed Ref.=8, Model-free=false, Time(s)=0.712026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 42.1 | — | — | — | |
| RePoseInput=RGB2023.12 | — | 31.1 | 80 | 25.6 | 73.1 | 43 | 51.7 | 54.3 | 53.6 | 51.6 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Single-StageRefinement=false, Training data=real + syn2022.04 | — | 19.2 | 65.1 | 18.9 | 69 | 25.3 | 52 | 51.4 | 45.6 | 43.3 | — | — | — | — | — | — | — | — | — | — | — | — | |
| SO-PoseRefinement=false, Training data=real + syn2022.04 | — | 46.3 | 81.1 | 18.2 | 71.3 | 43.9 | 46.6 | 63.3 | 62.9 | 54.3 | — | — | — | — | — | — | — | — | — | — | — | — | |
| SO-PoseInput=RGB2023.12 | — | 48.4 | 85.8 | 32.7 | 77.4 | 48.9 | 52.4 | 78.3 | 75.3 | 62.3 | — | — | — | — | — | — | — | — | — | — | — | — | |
| ZebraPoseInput=RGB2023.12 | — | 57.9 | 95 | 60.6 | 94.8 | 64.5 | 70.9 | 88.7 | 83 | 76.9 | — | — | — | — | — | — | — | — | — | — | — | — |