6D Object Pose Estimation on Occlusion LINEMOD
6.16Average ErrorTekin
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Tekin2023.03 | 6.16 | 7.01 | 11.2 | 3.62 | 5.07 | 1.4 | — | 4.7 | 8.26 | — | — | — | 6.16 | — | — | — | — | — | |
| Tekin2018.12 | 6.42 | 2.48 | 17.48 | 0.67 | 1.14 | 7.66 | — | 10.08 | 5.45 | — | — | — | — | — | — | — | — | — | |
| PoseCNN2023.03 | 17.2 | 34.6 | 15.1 | 10.4 | 31.8 | 7.4 | 1.9 | 13.8 | 23.1 | — | — | — | 17.2 | — | — | — | — | — | |
| PoseCNN2018.12 | 24.9 | 9.6 | 45.2 | 0.93 | 19.6 | 41.4 | 22 | 38.5 | 22.1 | — | — | — | — | — | — | — | — | — | |
| PoseCNN2019.11 | 24.9 | 9.6 | 45.2 | 0.9 | 19.6 | 41.4 | 22 | 38.5 | 22.1 | — | — | — | — | — | — | — | — | — | |
| Oberweger2019.11 | 27 | 12.1 | 39.9 | 8.2 | 17.2 | 45.2 | 22.1 | 35.8 | 36 | — | — | — | — | — | — | — | — | — | |
| Hu et al.2019.11 | 27 | 17.6 | 53.9 | 3.3 | 19.2 | 62.4 | 25.9 | 39.6 | 21.3 | — | — | — | — | — | — | — | — | — | |
| Oberweger2018.12 | 30.4 | 17.6 | 53.9 | 3.31 | 19.2 | 62.4 | 25.9 | 39.6 | 21.3 | — | — | — | — | — | — | — | — | — | |
| Pix2Pose2019.11 | 32 | 22 | 44.7 | 22.7 | 15 | 44.7 | 25.2 | 32.4 | 49.5 | — | — | — | — | — | — | — | — | — | |
| PVNetuncertainty-driven=true2018.12 | 40.77 | 15.81 | 63.3 | 16.68 | 25.24 | 65.65 | 50.17 | 49.62 | 39.67 | — | — | — | — | — | — | — | — | — | |
| PVNet2019.11 | 40.8 | 15.8 | 63.3 | 16.7 | 25.2 | 65.7 | 50.2 | 49.6 | 39.7 | — | — | — | — | — | — | — | — | — | |
| PVNet2021.04 | 40.8 | 15.8 | 63.3 | 16.7 | 25.2 | 65.7 | 50.2 | 49.6 | 39.7 | — | — | — | — | — | — | — | — | 0 | |
| CosyPoseData=S2026.06 | 46.7 | 44 | 69.9 | 42.1 | 47.8 | 67.5 | 24.4 | 60 | 17.5 | — | — | — | — | — | — | — | — | — | |
| DPOD2019.11 | 47.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPOD2021.04 | 47.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2 | |
| HybridPose2021.04 | 47.5 | 20.9 | 75.3 | 24.9 | 27.9 | 70.2 | 52.4 | 53.8 | 54.2 | — | — | — | — | — | — | — | — | 2 | |
| RePOSE2021.04 | 51.6 | 31.1 | 80 | 25.6 | 43 | 73.1 | 51.7 | 54.3 | 53.6 | — | — | — | — | — | — | — | — | 6 | |
| GDR-NetData=S2026.06 | 52.9 | 44 | 83.9 | 49.1 | 15 | 88.5 | 33.9 | 75 | 34.9 | — | — | — | — | — | — | — | — | — | |
| MARData=S2026.06 | 55.3 | 44.9 | 78.4 | 40.3 | 47.9 | 73.5 | 26.9 | 72.1 | 58 | — | — | — | — | — | — | — | — | — | |
| Conformalized heatmapBounding box source=frcnn, Set type=ball, epsilon=0.12023.03 | 56.93 | 70.2 | 67.52 | 74.95 | 79.3 | 58.48 | 0 | 30.03 | 74.96 | — | — | — | 56.93 | — | — | — | — | — | |
| Conformalized heatmapBounding box source=frcnn, Set type=ellipse, epsilon=0.12023.03 | 57.73 | 68.84 | 67.69 | 68.98 | 80.06 | 58.06 | 0 | 41.96 | 76.28 | — | — | — | 57.73 | — | — | — | — | — | |
| Self6D++Data=S+R-2026.06 | 59.8 | 57.7 | 95 | 52.6 | 26.7 | 90.5 | 45 | 87.1 | 23.5 | — | — | — | — | — | — | — | — | — | |
| Oberweger2023.03 | 60.9 | 69.6 | 82.6 | 65.1 | 61.4 | 73.8 | 13.1 | 54.9 | 66.4 | — | — | — | 60.9 | — | — | — | — | — | |
| PVNet2023.03 | 61.06 | 69.14 | 86.09 | 65.12 | 61.44 | 73.06 | 8.43 | 55.37 | 69.84 | — | — | — | 61.06 | — | — | — | — | — | |
| Conformalized heatmapBounding box source=frcnn, Set type=ellipse, epsilon=0.42023.03 | 61.25 | 69.11 | 69.56 | 78.57 | 80.53 | 65.67 | 0.14 | 48.26 | 78.18 | — | — | — | 61.25 | — | — | — | — | — | |
| MASTData=S+R-2026.06 | 61.4 | 47.6 | 82.9 | 45.4 | 53.7 | 75 | 48.2 | 75.3 | 63 | — | — | — | — | — | — | — | — | — | |
| Conformalized heatmapBounding box source=frcnn, Set type=ball, epsilon=0.42023.03 | 61.58 | 71.01 | 69.81 | 80.23 | 80.62 | 65.92 | 0 | 47.18 | 77.85 | — | — | — | 61.58 | — | — | — | — | — | |
| PVN3D2019.11 | 63.2 | 33.9 | 88.6 | 39.1 | 41.9 | 78.4 | 80.9 | 68.1 | 74.7 | — | — | — | — | — | — | — | — | — | |
| SMOC-NetData=S+R-2026.06 | 63.3 | 60 | 94.5 | 59.1 | 37.2 | 93 | 48.3 | 89.3 | 25 | — | — | — | — | — | — | — | — | — | |
| Tex-PoseData=S+R-2026.06 | 66.7 | 60.5 | 93.4 | 56.1 | 55.5 | 92.5 | 46 | 82.8 | 46.5 | — | — | — | — | — | — | — | — | — | |
| Conformalized heatmapBounding box source=gt, Set type=ball, epsilon=0.12023.03 | 67.33 | 77.7 | 73.41 | 87.36 | 82.71 | 79.32 | 0 | 56.49 | 81.65 | — | — | — | 67.33 | — | — | — | — | — | |
| ONDA-PoseData=S+R-2026.06 | 69.3 | 57.7 | 92 | 56.7 | 56.1 | 94 | 50.6 | 77.9 | 69.5 | — | — | — | — | — | — | — | — | — | |
| Conformalized heatmapBounding box source=gt, Set type=ellipse, epsilon=0.12023.03 | 70.61 | 79.26 | 75.81 | 89.54 | 84.02 | 81.22 | 0.09 | 71.69 | 83.22 | — | — | — | 70.61 | — | — | — | — | — | |
| Conformalized heatmapBounding box source=gt, Set type=ball, epsilon=0.42023.03 | 70.71 | 79.52 | 75.97 | 90.59 | 83.08 | 82.54 | 0 | 71.08 | 82.89 | — | — | — | 70.71 | — | — | — | — | — | |
| Conformalized heatmapBounding box source=gt, Set type=ellipse, epsilon=0.42023.03 | 71.39 | 79.88 | 78.13 | 90.11 | 83.55 | 82.04 | 0.18 | 72.93 | 84.3 | — | — | — | 71.39 | — | — | — | — | — | |
| CAPLRsData=S+R-2026.06 | 79.3 | 62 | 91.3 | 61.2 | 69.4 | 86.1 | 95.6 | 75.6 | 93.6 | — | — | — | — | — | — | — | — | — | |
| CAPLRmData=S+R-2026.06 | 85.8 | 67 | 93.9 | 71.3 | 83.3 | 95 | 98 | 85.8 | 92.4 | — | — | — | — | — | — | — | — | — | |
| DCP2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | 3 | 12 | 11 | 27 | — | |
| DeepIMInitial pose proposals=PoseCNN [6]2020.05 | — | — | — | — | — | — | — | — | — | 55.5 | 56.61 | 30.93 | — | — | — | — | — | — | |
| Diff-DCP2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | 10 | 29 | 38 | 57 | — | |
| Diff-RPMNet2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | 12 | 29 | 36 | 52 | — | |
| FGR2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0 | 0 | 8 | 43 | — | |
| FMR2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0 | 0 | 9 | 18 | — | |
| ICP2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | 1 | 1 | 7 | 36 | — | |
| IDAM2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0 | 2 | 7 | 26 | — | |
| MN-DCP2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | 7 | 19 | 24 | 57 | — | |
| MN-IDAM2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | 2 | 8 | 15 | 44 | — | |
| Oberweger et al.2020.05 | — | — | — | — | — | — | — | — | — | 30.4 | 60.86 | — | — | — | — | — | — | — | |
| PPCInitial pose proposals=PVNet [18]2020.05 | — | — | — | — | — | — | — | — | — | 55.33 | 66.37 | 41.52 | — | — | — | — | — | — | |
| PVNet2020.05 | — | — | — | — | — | — | — | — | — | 41.37 | 61.84 | 33.36 | — | — | — | — | — | — | |
| RGM2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0 | 0 | 9 | 22 | — | |
| RPMNet2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | 3 | 13 | 22 | 40 | — | |
| S4PCS2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | 1 | 3 | 6 | 31 | — | |
| TEASER2023.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | 1 | 2 | 4 | 26 | — |