# 6D Object Pose Estimation on TOD

Source: [6D Object Pose Estimation on TOD](<https://www.sota2.com/research/sota/6d-object-pose-estimation-on-tod>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-23T10:44:10.853Z

Evaluation of 6D Object Pose Estimation performance on the TOD dataset, reporting metrics based on angular and translational error thresholds (e.g., 3D25, 3D50, 5° 2cm).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | 6D Object Pose Estimation |
| Dataset (including any stated split) | TOD |
| Metric | 10° 10cm Success Rate |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 6 of 6 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [10° 10cm Success Rate](<https://www.sota2.com/research/sota/6d-object-pose-estimation-on-tod.md?metric=10%C2%B0%2010cm%20Success%20Rate>): Higher is better; unit: PERCENT.

- [3D25 Success Rate](<https://www.sota2.com/research/sota/6d-object-pose-estimation-on-tod.md?metric=3D25%20Success%20Rate>): Higher is better; unit: PERCENT.

- [3D50 Success Rate](<https://www.sota2.com/research/sota/6d-object-pose-estimation-on-tod.md?metric=3D50%20Success%20Rate>): Higher is better; unit: PERCENT.

- [3D75 Success Rate](<https://www.sota2.com/research/sota/6d-object-pose-estimation-on-tod.md?metric=3D75%20Success%20Rate>): Higher is better; unit: PERCENT.

- [10° 5cm Success Rate](<https://www.sota2.com/research/sota/6d-object-pose-estimation-on-tod.md?metric=10%C2%B0%205cm%20Success%20Rate>): Higher is better; unit: PERCENT.

- [5° 2cm Success Rate](<https://www.sota2.com/research/sota/6d-object-pose-estimation-on-tod.md?metric=5%C2%B0%202cm%20Success%20Rate>): Higher is better; unit: PERCENT.

## Recorded results

| Method | 10° 10cm Success Rate | Result date | Report paper |
| --- | --- | --- | --- |
| Coders | 90.8 | Not recorded | 69c0c8d60636e5bf4afc3937 |
| UniPR | 86.9 | Not recorded | 69c0c8d60636e5bf4afc3937 |
| StereoPose | 54.2 | Not recorded | 69c0c8d60636e5bf4afc3937 |
| KeyPose | 43.7 | Not recorded | 69c0c8d60636e5bf4afc3937 |
| SGPASPD | 13.8 | Not recorded | 69c0c8d60636e5bf4afc3937 |
| SPD | 11 | Not recorded | 69c0c8d60636e5bf4afc3937 |

### Coders

10° 10cm Success Rate: 90.8. Result ID: 69c1181e47f34ce924a9438e.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d60636e5bf4afc3937.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74221e209131cea5fdc4.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### UniPR

10° 10cm Success Rate: 86.9. Result ID: 69c1181e47f34ce924a9438f.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d60636e5bf4afc3937.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69c0c8d60636e5bf4afc3937.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### StereoPose

10° 10cm Success Rate: 54.2. Result ID: 69c1181e47f34ce924a9438d.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d60636e5bf4afc3937.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ddd1e209131cea3c872.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### KeyPose

10° 10cm Success Rate: 43.7. Result ID: 69c1181e47f34ce924a9438c.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d60636e5bf4afc3937.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa678c1e209131cea16df9.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### SGPASPD

10° 10cm Success Rate: 13.8. Result ID: 69c1181e47f34ce924a9438b.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d60636e5bf4afc3937.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### SPD

10° 10cm Success Rate: 11. Result ID: 69c1181e47f34ce924a9438a.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d60636e5bf4afc3937.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67f61e209131cea1976b.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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