6D Pose and Size Estimation on REAL275 benchmark leaderboard · SOTA2 Research

6D Pose and Size Estimation on REAL275

0.6365°5cmSecondPose

Evaluation Results

Method	Links
SecondPose2023.11		0.636	—	0.497	0.562	0.747	0.86
SecondPose2025.12		0.636	0.838	0.777	0.562	0.747	0.86
THE-Pose2025.12		0.631	0.834	0.796	0.567	0.79	0.874
AG-Pose2025.12		0.617	0.837	0.795	0.547	0.747	0.831
VI-Net2023.11		0.576	—	0.483	0.5	0.708	0.821
HS-Pose2025.12		0.561	0.828	0.753	0.462	0.689	0.841
HS-Pose2023.11		0.552	—	—	0.465	0.686	0.827
gCasp2022.10		0.547	0.79	0.653	0.469	0.642	0.763
SPD + CATRE2023.11		0.544	—	0.436	0.458	0.614	0.731
IST-Net2023.11		0.534	—	—	0.475	0.721	0.805
DPDN2023.11		0.507	—	—	0.46	0.704	0.784
DPDN2025.12		0.507	0.834	0.76	0.46	0.704	0.784
RBP-Pose2023.11		0.481	—	—	0.382	0.631	0.792
RBP-Pose2025.12		0.481	—	0.678	0.382	0.631	0.792
Self-DPDN2023.03		0.467	—	—	0.39	0.618	0.734
Self-DPDN2023.03		0.45	—	—	0.395	0.633	0.722
SSP-Pose2023.11		0.446	—	—	0.347	—	0.778
SSP-Pose2025.12		0.446	0.823	0.663	0.347	—	0.778
SS-ConvNet2023.11		0.434	—	—	0.366	0.526	0.635
GPV-Pose2023.11		0.429	—	—	0.32	—	0.733
GPV-Pose2025.12		0.429	0.83	0.644	0.32	0.55	0.733
SAR-Net2022.10		0.423	0.793	0.624	0.316	0.503	0.683
SAR-Net2023.11		0.423	—	—	0.316	0.503	0.683
SAR-Net2025.12		0.423	0.793	0.624	0.316	0.504	0.683
SGPA2022.10		0.396	0.801	0.619	0.359	0.613	0.707
SGPA2023.03		0.396	—	—	0.359	0.613	0.707
SGPA2023.11		0.396	—	0.371	0.359	0.613	0.707
SGPA2025.12		0.396	0.801	0.619	0.359	0.613	0.707
TTA-COPE2023.03		0.381	—	—	0.333	0.643	0.751
ACR-Pose2023.11		0.369	—	—	0.316	0.548	0.659
DualPoseNet2023.03		0.359	—	—	0.293	0.5	0.668
TTA-COPE2023.03		0.359	—	—	0.302	0.617	0.732
DualPoseNet2023.11		0.359	—	0.308	0.293	0.5	0.668
UDA-COPE2023.03		0.349	—	—	0.305	0.57	0.661
CR-Net2023.03		0.343	—	—	0.278	0.472	0.608
CR-Net2023.11		0.343	—	0.332	0.278	0.472	0.608
CR-Net2025.12		0.343	0.793	0.559	0.278	0.472	0.608
RePoNet2023.03		0.339	—	—	0.307	—	0.63
FS-Net2025.12		0.339	0.811	0.635	0.199	—	0.691
FS-Net2023.11		0.282	—	—	—	—	0.608
iCaps2022.10		0.223	—	—	—	—	—
SPD2023.03		0.216	—	—	0.195	0.435	0.54
SPD2022.10		0.214	0.773	0.532	0.193	0.432	0.541
SPD2023.11		0.214	—	0.27	0.193	0.432	0.541
SPD2025.12		0.214	0.773	0.532	0.193	0.432	0.541
SSC-6D2023.03		0.196	—	—	0.168	0.441	0.545
SPD2023.03		0.121	—	—	0.115	0.33	0.379
NOCS2022.10		0.1	0.78	0.301	0.072	0.138	0.252
NOCS2023.03		0.1	—	—	0.072	0.138	0.252
Metric Scale2023.03		0.054	—	—	0.022	0.101	0.25
CenterSnap-R2023.11		—	—	—	0.291	—	0.643