6D Pose and Size Estimation on REAL275
0.6365°5cmSecondPose
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| SecondPosePriors=Semantic Priors2023.11 | 0.636 | — | 0.497 | 0.562 | 0.747 | 0.86 | |
| SecondPoseApproach=Semantic prior based2025.12 | 0.636 | 0.838 | 0.777 | 0.562 | 0.747 | 0.86 | |
| THE-PoseApproach=Topological prior + 3D-GC2025.12 | 0.631 | 0.834 | 0.796 | 0.567 | 0.79 | 0.874 | |
| AG-PoseApproach=Keypoint based2025.12 | 0.617 | 0.837 | 0.795 | 0.547 | 0.747 | 0.831 | |
| VI-NetMean Shape Priors=false2023.11 | 0.576 | — | 0.483 | 0.5 | 0.708 | 0.821 | |
| HS-PoseApproach=3D-GC based2025.12 | 0.561 | 0.828 | 0.753 | 0.462 | 0.689 | 0.841 | |
| HS-PoseMean Shape Priors=false2023.11 | 0.552 | — | — | 0.465 | 0.686 | 0.827 | |
| gCaspTraining Data=D(S), Canonical Model=Generate, Learnable Parameters(M)=2.32022.10 | 0.547 | 0.79 | 0.653 | 0.469 | 0.642 | 0.763 | |
| SPD + CATREMean Shape Priors=true2023.11 | 0.544 | — | 0.436 | 0.458 | 0.614 | 0.731 | |
| IST-NetMean Shape Priors=false2023.11 | 0.534 | — | — | 0.475 | 0.721 | 0.805 | |
| DPDNMean Shape Priors=true2023.11 | 0.507 | — | — | 0.46 | 0.704 | 0.784 | |
| DPDNApproach=Shape prior based2025.12 | 0.507 | 0.834 | 0.76 | 0.46 | 0.704 | 0.784 | |
| RBP-PoseMean Shape Priors=true2023.11 | 0.481 | — | — | 0.382 | 0.631 | 0.792 | |
| RBP-PoseApproach=Shape prior based2025.12 | 0.481 | — | 0.678 | 0.382 | 0.631 | 0.792 | |
| Self-DPDNSource Supervised=2D/3D, Target Unsupervised=2D/3D, Online=false, Supervision Setting=Source (Supervised) & Target (Unsupervised)2023.03 | 0.467 | — | — | 0.39 | 0.618 | 0.734 | |
| Self-DPDNSource Supervised=2D/3D, Target Supervised=2D, Target Unsupervised=3D, Online=false, Supervision Setting=Source (Supervised) & Target (Semi-Supervised)2023.03 | 0.45 | — | — | 0.395 | 0.633 | 0.722 | |
| SSP-PoseMean Shape Priors=true2023.11 | 0.446 | — | — | 0.347 | — | 0.778 | |
| SSP-PoseApproach=Shape prior based2025.12 | 0.446 | 0.823 | 0.663 | 0.347 | — | 0.778 | |
| SS-ConvNetMean Shape Priors=false2023.11 | 0.434 | — | — | 0.366 | 0.526 | 0.635 | |
| GPV-PoseMean Shape Priors=false2023.11 | 0.429 | — | — | 0.32 | — | 0.733 | |
| GPV-PoseApproach=3D-GC based2025.12 | 0.429 | 0.83 | 0.644 | 0.32 | 0.55 | 0.733 | |
| SAR-NetTraining Data=D(S), Canonical Model=Deform, Learnable Parameters(M)=6.32022.10 | 0.423 | 0.793 | 0.624 | 0.316 | 0.503 | 0.683 | |
| SAR-NetMean Shape Priors=true2023.11 | 0.423 | — | — | 0.316 | 0.503 | 0.683 | |
| SAR-NetApproach=Shape prior based2025.12 | 0.423 | 0.793 | 0.624 | 0.316 | 0.504 | 0.683 | |
| SGPATraining Data=RGBD(S+R), Canonical Model=Deform, Learnable Parameters(M)=23.32022.10 | 0.396 | 0.801 | 0.619 | 0.359 | 0.613 | 0.707 | |
| SGPASource Supervised=2D/3D, Target Supervised=2D/3D, Supervision Setting=Source (Supervised) & Target (Supervised)2023.03 | 0.396 | — | — | 0.359 | 0.613 | 0.707 | |
| SGPAMean Shape Priors=true2023.11 | 0.396 | — | 0.371 | 0.359 | 0.613 | 0.707 | |
| SGPAApproach=Shape prior based2025.12 | 0.396 | 0.801 | 0.619 | 0.359 | 0.613 | 0.707 | |
| TTA-COPESource Supervised=2D/3D, Target Supervised=2D, Target Unsupervised=3D, Online=true, Supervision Setting=Source (Supervised) & Target (Semi-Supervised)2023.03 | 0.381 | — | — | 0.333 | 0.643 | 0.751 | |
| ACR-PoseMean Shape Priors=true2023.11 | 0.369 | — | — | 0.316 | 0.548 | 0.659 | |
| DualPoseNetSource Supervised=2D/3D, Target Supervised=2D/3D, Supervision Setting=Source (Supervised) & Target (Supervised)2023.03 | 0.359 | — | — | 0.293 | 0.5 | 0.668 | |
| TTA-COPESource Supervised=2D/3D, Target Unsupervised=2D/3D, Online=true, Supervision Setting=Source (Supervised) & Target (Unsupervised)2023.03 | 0.359 | — | — | 0.302 | 0.617 | 0.732 | |
| DualPoseNetMean Shape Priors=false2023.11 | 0.359 | — | 0.308 | 0.293 | 0.5 | 0.668 | |
| UDA-COPESource Supervised=2D/3D, Target Supervised=2D, Target Unsupervised=3D, Online=false, Supervision Setting=Source (Supervised) & Target (Semi-Supervised)2023.03 | 0.349 | — | — | 0.305 | 0.57 | 0.661 | |
| CR-NetSource Supervised=2D/3D, Target Supervised=2D/3D, Supervision Setting=Source (Supervised) & Target (Supervised)2023.03 | 0.343 | — | — | 0.278 | 0.472 | 0.608 | |
| CR-NetMean Shape Priors=true2023.11 | 0.343 | — | 0.332 | 0.278 | 0.472 | 0.608 | |
| CR-NetApproach=Shape prior based2025.12 | 0.343 | 0.793 | 0.559 | 0.278 | 0.472 | 0.608 | |
| RePoNetSource Supervised=2D/3D, Target Supervised=2D, Target Unsupervised=3D, Online=false, Supervision Setting=Source (Supervised) & Target (Semi-Supervised)2023.03 | 0.339 | — | — | 0.307 | — | 0.63 | |
| FS-NetApproach=3D-GC based2025.12 | 0.339 | 0.811 | 0.635 | 0.199 | — | 0.691 | |
| FS-NetMean Shape Priors=false2023.11 | 0.282 | — | — | — | — | 0.608 | |
| iCapsTraining Data=D(S), Canonical Model=Generate, Learnable Parameters(M)=80.92022.10 | 0.223 | — | — | — | — | — | |
| SPDSource Supervised=2D/3D, Target Supervised=2D/3D, Supervision Setting=Source (Supervised) & Target (Supervised)2023.03 | 0.216 | — | — | 0.195 | 0.435 | 0.54 | |
| SPDTraining Data=RGBD(S+R), Canonical Model=Deform, Learnable Parameters(M)=18.32022.10 | 0.214 | 0.773 | 0.532 | 0.193 | 0.432 | 0.541 | |
| SPDMean Shape Priors=true2023.11 | 0.214 | — | 0.27 | 0.193 | 0.432 | 0.541 | |
| SPDApproach=Shape prior based2025.12 | 0.214 | 0.773 | 0.532 | 0.193 | 0.432 | 0.541 | |
| SSC-6DSource Supervised=2D/3D, Target Supervised=2D, Target Unsupervised=3D, Online=false, Supervision Setting=Source (Supervised) & Target (Semi-Supervised)2023.03 | 0.196 | — | — | 0.168 | 0.441 | 0.545 | |
| SPDSource Supervised=2D/3D, Supervision Setting=Source (Supervised)2023.03 | 0.121 | — | — | 0.115 | 0.33 | 0.379 | |
| NOCSTraining Data=RGB(S+R), Canonical Model=Regress2022.10 | 0.1 | 0.78 | 0.301 | 0.072 | 0.138 | 0.252 | |
| NOCSSource Supervised=2D/3D, Target Supervised=2D/3D, Supervision Setting=Source (Supervised) & Target (Supervised)2023.03 | 0.1 | — | — | 0.072 | 0.138 | 0.252 | |
| Metric ScaleSource Supervised=2D/3D, Supervision Setting=Source (Supervised)2023.03 | 0.054 | — | — | 0.022 | 0.101 | 0.25 | |
| CenterSnap-RMean Shape Priors=true2023.11 | — | — | — | 0.291 | — | 0.643 |