# 6D Pose Estimation on LINEMOD 5 (test) Source: [6D Pose Estimation on LINEMOD 5 (test)]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:36:02.881Z Evaluation of 6D Pose Estimation performance on the test split of the LINEMOD 5 dataset, reporting object-specific accuracy metrics (Ape, Avg, etc.). A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | 6D Pose Estimation | | Dataset (including any stated split) | LINEMOD 5 (test) | | Metric | Avg Acc | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 18 of 18 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Avg Acc](): Higher is better; unit: PERCENT. - [Ape](): Higher is better; unit: PERCENT. - [Bvise](): Higher is better; unit: PERCENT. - [Cam](): Higher is better; unit: PERCENT. - [Can](): Higher is better; unit: PERCENT. - [Cat](): Higher is better; unit: PERCENT. - [Driller](): Higher is better; unit: PERCENT. - [Duck](): Higher is better; unit: PERCENT. - [Box](): Higher is better; unit: PERCENT. - [Glue](): Higher is better; unit: PERCENT. - [Holep](): Higher is better; unit: PERCENT. - [Iron](): Higher is better; unit: PERCENT. - [Lamp](): Higher is better; unit: PERCENT. - [Phone](): Higher is better; unit: PERCENT. ## Recorded results | Method | Avg Acc | Result date | Report paper | | --- | --- | --- | --- | | CullNet | 97.7 | Not recorded | 68fa667b1e209131cea107c3 | | CullNet | 97.5 | Not recorded | 68fa667b1e209131cea107c3 | | DeepIM | 97.5 | Not recorded | 68fa667b1e209131cea107c3 | | Tekin et al. | 90.4 | Not recorded | 68fa667b1e209131cea107c3 | | BB8 | 89.3 | Not recorded | 68fa667b1e209131cea107c3 | | DeepIM | 88.6 | Not recorded | 68fa667b1e209131cea107c3 | | BB8 | 83.9 | Not recorded | 68fa667b1e209131cea107c3 | | CullNet | 78.3 | Not recorded | 68fa667b1e209131cea107c3 | | SSD-6D | 76.3 | Not recorded | 68fa667b1e209131cea107c3 | | Brachmann | 73.7 | Not recorded | 68fa667b1e209131cea107c3 | | CullNet | 72.2 | Not recorded | 68fa667b1e209131cea107c3 | | Do et al. | 65.2 | Not recorded | 68fa667b1e209131cea107c3 | | BB8 | 62.7 | Not recorded | 68fa667b1e209131cea107c3 | | Tekin et al. | 55.9 | Not recorded | 68fa667b1e209131cea107c3 | | Brachmann | 50.2 | Not recorded | 68fa667b1e209131cea107c3 | | BB8 | 43.6 | Not recorded | 68fa667b1e209131cea107c3 | | Manhardt | 34.1 | Not recorded | 68fa667b1e209131cea107c3 | | SSD-6D | 2.42 | Not recorded | 68fa667b1e209131cea107c3 | ### CullNet Avg Acc: 97.7. Result ID: 698cf3298b517eb4331deaae. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Bias Correction":true,"Pose Refinement":false}. This record does not assert independent reproduction. ### CullNet Avg Acc: 97.5. Result ID: 698cf3298b517eb4331deaaf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":false}. This record does not assert independent reproduction. ### DeepIM Avg Acc: 97.5. Result ID: 698cf3298b517eb4331deab2. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":true}. This record does not assert independent reproduction. ### Tekin et al. Avg Acc: 90.4. Result ID: 698cf3298b517eb4331deab0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":false}. This record does not assert independent reproduction. ### BB8 Avg Acc: 89.3. Result ID: 698cf3298b517eb4331deab3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":true}. This record does not assert independent reproduction. ### DeepIM Avg Acc: 88.6. Result ID: 698cf3298b517eb4331deabb. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":true}. This record does not assert independent reproduction. ### BB8 Avg Acc: 83.9. Result ID: 698cf3298b517eb4331deab1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":false}. This record does not assert independent reproduction. ### CullNet Avg Acc: 78.3. Result ID: 698cf3298b517eb4331deab5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Bias Correction":true,"Pose Refinement":false}. This record does not assert independent reproduction. ### SSD-6D Avg Acc: 76.3. Result ID: 698cf3298b517eb4331deabe. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":true}. This record does not assert independent reproduction. ### Brachmann Avg Acc: 73.7. Result ID: 698cf3298b517eb4331deab4. [Reporting paper]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":true}. This record does not assert independent reproduction. ### CullNet Avg Acc: 72.2. Result ID: 698cf3298b517eb4331deab6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":false}. This record does not assert independent reproduction. ### Do et al. Avg Acc: 65.2. Result ID: 698cf3298b517eb4331deab7. [Reporting paper]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":false}. This record does not assert independent reproduction. ### BB8 Avg Acc: 62.7. Result ID: 698cf3298b517eb4331deabd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":true}. This record does not assert independent reproduction. ### Tekin et al. Avg Acc: 55.9. Result ID: 698cf3298b517eb4331deab8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":false}. This record does not assert independent reproduction. ### Brachmann Avg Acc: 50.2. Result ID: 698cf3298b517eb4331deabf. [Reporting paper]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":true}. This record does not assert independent reproduction. ### BB8 Avg Acc: 43.6. Result ID: 698cf3298b517eb4331deab9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":false}. This record does not assert independent reproduction. ### Manhardt Avg Acc: 34.1. Result ID: 698cf3298b517eb4331deabc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":true}. This record does not assert independent reproduction. ### SSD-6D Avg Acc: 2.42. Result ID: 698cf3298b517eb4331deaba. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Bias Correction":false,"Pose Refinement":false}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.