6D Pose Estimation on LineMOD
64.7ADD (S)Imp.+ICP
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Imp.+ICPInput modality (RGB or RGB-D)=RGB-D, Post-processing refinement (Ref.)=ICP2019.12 | 64.7 | — | — | 20.6 | 64.3 | 63.2 | 76.1 | 72 | 41.6 | 32.4 | 98.6 | 96.4 | 49.9 | 63.1 | 91.7 | 71 | |
| SSD6D+ICPInput modality (RGB or RGB-D)=RGB-D, Post-processing refinement (Ref.)=ICP2019.12 | 79 | — | — | 65 | 80 | 78 | 86 | 70 | 73 | 66 | 100 | 100 | 49 | 78 | 73 | 79 | |
| DenseFusionInput modality (RGB or RGB-D)=RGB-D, Post-processing refinement (Ref.)=None2019.12 | 86.2 | — | — | 79.5 | 84.2 | 76.5 | 86.6 | 88.8 | 77.7 | 76.3 | 99.9 | 99.4 | 79 | 92.1 | 92.3 | 88 | |
| PVNetCategory-level=false, speed(FPS)=252022.03 | 86.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVNetInput modality (RGB or RGB-D)=RGB2019.12 | 86.3 | — | — | 43.6 | 99.9 | 86.9 | 95.5 | 79.3 | 96.4 | 52.6 | 99.2 | 95.7 | 82 | 98.9 | 99.3 | 92.4 | |
| DeepIMInput modality (RGB or RGB-D)=RGB2019.12 | 88.6 | — | — | 77 | 97.5 | 93.5 | 96.5 | 82.1 | 95 | 77.7 | 97.1 | 99.4 | 52.8 | 98.3 | 97.5 | 87.7 | |
| CDPNInput modality (RGB or RGB-D)=RGB2019.12 | 89.9 | — | — | 64.4 | 97.8 | 91.7 | 95.9 | 83.8 | 96.2 | 66.8 | 99.7 | 99.6 | 85.8 | 97.9 | 97.9 | 90.8 | |
| DenseFusionCategory-level=false, speed(FPS)=162022.03 | 94.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionInput modality (RGB or RGB-D)=RGB-D, Post-processing refinement (Ref.)=Iterative2019.12 | 94.3 | — | — | 92.3 | 93.2 | 94.4 | 93.1 | 96.5 | 87 | 92.3 | 99.8 | 100 | 92.1 | 97 | 95.3 | 92.8 | |
| W-PoseNetInput modality (RGB or RGB-D)=RGB-D, Post-processing refinement (Ref.)=None2019.12 | 97.2 | — | — | 91.7 | 98.8 | 98.4 | 96.5 | 97.7 | 96.3 | 95 | 99.8 | 99.9 | 94.4 | 97.7 | 99.6 | 96.8 | |
| FS-NetCategory-level=true, speed(FPS)=202022.03 | 97.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| W-PoseNetInput modality (RGB or RGB-D)=RGB-D, Post-processing refinement (Ref.)=Iterative2019.12 | 98.1 | — | — | 94.9 | 98.9 | 99.1 | 97.8 | 98.8 | 97.1 | 97.7 | 99.8 | 100 | 96.5 | 97.9 | 99.3 | 97.6 | |
| DualPoseNetCategory-level=true, speed(FPS)=22022.03 | 98.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GPV-PoseCategory-level=true, speed(FPS)=202022.03 | 98.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| G2L-NetCategory-level=false, speed(FPS)=232022.03 | 98.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVN3DCategory-level=false, speed(FPS)=52022.03 | 99.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BrachmannInput Modality=RGB2017.11 | — | 97.5 | 50.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Brachmann 2014Input Modality=RGB-D2017.11 | — | 99.1 | 97.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Brachmann 2016Input Modality=RGB-D2017.11 | — | 99.6 | 99 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LineMODInput Modality=RGB2017.11 | — | 86.5 | 24.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSD-6DInput Modality=RGB2017.11 | — | 99.4 | 76.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSD-6DInput Modality=RGB-D2017.11 | — | 96.5 | 90.9 | — | — | — | — | — | — | — | — | — | — | — | — | — |