6D Object Pose Estimation on YCB-V (Per-Object Error)
3.6Master Chef Can ErrorPoseCNN
Evaluation Results
| Method | Links | ||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PoseCNNApproach=One-stage, P.E.=12026.03 | 3.6 | 25.1 | 40.3 | 25.5 | 61.9 | 11.4 | 14.5 | 12.1 | 18.9 | 30.3 | 15.6 | 21.2 | 12.1 | 5.2 | 29.9 | 10.7 | 2.2 | 3.4 | 28.5 | 19.6 | 54.5 | 21.3 | |
| PREDATORReference view=162025.03 | 17.4 | 8.3 | 15.3 | 44.4 | 5 | 34.2 | 24.2 | 37.5 | 20.9 | 9.9 | 18.1 | 48.1 | 17.4 | 29.5 | 12.3 | 10 | 25 | 38.9 | 34.4 | 24.1 | 35.5 | 24.3 | |
| SegDrivenApproach=One-stage, P.E.=12026.03 | 33 | 44.6 | 75.6 | 40.8 | 70.6 | 18.1 | 12.2 | 59.4 | 33.3 | 16.6 | 90 | 70.9 | 30.5 | 40.7 | 63.5 | 27.7 | 17.1 | 4.8 | 25.6 | 8.8 | 34.7 | 39 | |
| FS6D-DPMReference view=162025.03 | 36.8 | 24.5 | 43.9 | 54.2 | 71.1 | 53.9 | 79.6 | 32.1 | 54.9 | 69.1 | 40.4 | 44.1 | 0.9 | 39.2 | 19.8 | 27.9 | 27.7 | 74.2 | 34.7 | 10.1 | 45.8 | 42.1 | |
| GDR-NetApproach=Two-stage, P.E.=N2026.03 | 41.5 | 83.2 | 91.5 | 65.9 | 90.2 | 44.2 | 2.8 | 61.7 | 64.9 | 64.1 | 99 | 73.8 | 37.7 | 61.5 | 78.5 | 59.5 | 3.9 | 7.4 | 69.8 | 90 | 71.9 | 60.1 | |
| SinRef-6DReference view=12025.03 | 44.3 | 34.4 | 83.9 | 53.7 | 79.9 | 53.8 | 44.3 | 94.6 | 25.5 | 65 | 88.2 | 72.9 | 31.7 | 77.7 | 53.7 | 0.7 | 51.2 | 76.2 | 21.4 | 0.4 | 56.3 | 52.8 | |
| LoFTRReference view=162025.03 | 50.6 | 25.5 | 13.4 | 52.9 | 59 | 55.7 | 68.1 | 45.2 | 45.1 | 1.6 | 22.3 | 16.7 | 1.4 | 23.6 | 1.3 | 1.4 | 14.6 | 8.4 | 11.2 | 1.8 | 31.4 | 26.2 | |
| GDR-NetApproach=Two-stage, P.E.=12026.03 | 51.7 | 45.1 | 83.9 | 48.3 | 92.2 | 29.1 | 39.7 | 34.6 | 36.3 | 60.2 | 96.3 | 73 | 35 | 39.3 | 57.7 | 50.8 | 6.6 | 13.7 | 40.3 | 35.3 | 61.1 | 49.1 | |
| YOLOPoseApproach=One-stage, P.E.=12026.03 | 70.2 | 85.4 | 73.8 | 73.7 | 92 | 60.2 | 82 | 62.7 | 70.5 | 47.1 | 100 | 76.2 | 24.9 | 62.8 | 90.5 | 78.6 | 73.5 | 10.4 | 71.4 | 91.7 | 69.2 | 69.9 |