6D Object Pose Tracking on NOCS (test)
87.45°5cm AccuracyBundleTrack
Evaluation Results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| BundleTrackAssumption=No Model2021.08 | 87.4 | 99.9 | 2.4 | 2.1 | 86.5 | 99.6 | 85.8 | 99.2 | 99.9 | 53.6 | 87.4 | |
| 6-PACKAssumption=Category-Level 3D Model, Temporal prediction=true2021.08 | 33.3 | 94.2 | 16 | 3.5 | 24.5 | 55 | 10.1 | 22.6 | 63.5 | 24.1 | 33.3 | |
| 6-PACK w/o temporalAssumption=Category-Level 3D Model, Temporal prediction=false2021.08 | 32.5 | 95.1 | 17.1 | 3.4 | 23.7 | 53 | 8.4 | 25 | 62.4 | 22.4 | 32.5 | |
| MaskFusionAssumption=No Model2021.08 | 26.5 | 64.9 | 28.5 | 8.3 | 15.5 | 32.3 | 11.7 | 8.8 | 73.9 | 16.4 | 26.5 | |
| TEASER++*Assumption=No Model, Note=Operating over the same segmented point cloud and feature correspondences as BundleTrack2021.08 | 20 | 99.9 | 16.2 | 2.5 | 13.9 | 35.5 | 10.7 | 11.7 | 40.9 | 7.5 | 20 | |
| NOCSAssumption=Category-Level 3D Model2021.08 | 17 | 82.2 | 20.2 | 4.9 | 5.5 | 62.2 | 0.6 | 7.1 | 25.5 | 0.9 | 17 | |
| ICPAssumption=No Model2021.08 | 16.9 | 47 | 48.1 | 10.5 | 10.1 | 40.3 | 12.6 | 17.2 | 14.8 | 6.2 | 16.9 | |
| KeypointNetAssumption=Category-Level 3D Model2021.08 | 13.5 | 53 | 30 | 8.4 | 5.9 | 16.8 | 1.8 | 4.3 | 49.2 | 3.1 | 13.5 |