6D Pose Estimation on LineMod (test)
98.92ApeMobilePose-Base
Evaluation results
| Method | Links | ||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| MobilePose-BaseMetric=REP-5px2020.03 | 98.92 | — | — | 95.56 | 99.44 | 85.47 | 97.86 | — | 95.63 | 97.85 | — | — | — | — | — | — | 99.47 | — | — | — | — | — | — | — | — | — | — | — | |
| PVN3DModality=RGBD2019.11 | 97.3 | 99.7 | 99.6 | 99.5 | 99.8 | 99.3 | 98.2 | — | 100 | 99.9 | 99.7 | 99.8 | 99.5 | 99.4 | — | — | 99.8 | — | — | — | — | — | — | — | — | — | — | — | |
| DF(iterative)Modality=RGBD2019.11 | 92.3 | 93.2 | 94.4 | 93.1 | 96.5 | 87 | 92.3 | — | 100 | 92.1 | 97 | 95.3 | 92.8 | 94.3 | — | — | 99.8 | — | — | — | — | — | — | — | — | — | — | — | |
| YOLO-6DMetric=REP-5px2020.03 | 92.1 | — | — | 97.44 | 97.41 | 79.41 | 94.65 | — | 96.53 | 92.86 | — | — | — | — | — | — | 90.33 | — | — | — | — | — | — | — | — | — | — | — | |
| CAPLRmData=S + R−2026.06 | 90.7 | 99.5 | 93.2 | 97.9 | 99.3 | 97.7 | 98.8 | — | 99.5 | 97 | 99.9 | 94.1 | 96.6 | 97.2 | — | — | 100 | — | — | — | — | — | — | — | — | — | — | — | |
| DPODTrain data=Real, Refinement=Deep Refinement2019.02 | 87.73 | 98.45 | 96.07 | 99.71 | 94.71 | 98.8 | 86.29 | — | 96.82 | 86.87 | 100 | 96.84 | 94.69 | 95.15 | — | — | 99.91 | — | — | — | — | — | — | — | — | — | — | — | |
| SMOC-NetData=S + R−2026.06 | 85.6 | 96.7 | 97.2 | 99.9 | 95 | 100 | 76 | — | 99.2 | 45.6 | 99.9 | 98.9 | 94 | 91.3 | — | — | 98.3 | — | — | — | — | — | — | — | — | — | — | — | |
| GDR-NetData=R2026.06 | 85 | 99.8 | 96.5 | 99.3 | 93 | 100 | 65.3 | — | 98.1 | 73.4 | 86.9 | 99.6 | 86.3 | 91 | — | — | 99.9 | — | — | — | — | — | — | — | — | — | — | — | |
| ONDA-PoseData=S + R−2026.06 | 83 | 99.9 | 98 | 99.5 | 96.4 | 99.4 | 76.5 | — | 87.1 | 83.4 | 99.6 | 98.9 | 93.4 | 93.2 | — | — | 96.3 | — | — | — | — | — | — | — | — | — | — | — | |
| CAPLRsData=S + R−2026.06 | 82.1 | 95.2 | 93.2 | 97.4 | 98.8 | 97 | 89.5 | — | 96.9 | 95.1 | 98.8 | 78 | 93.7 | 93.5 | — | — | 100 | — | — | — | — | — | — | — | — | — | — | — | |
| Tex-PoseData=S + R−2026.06 | 80.9 | 99 | 94.8 | 99.7 | 92.6 | 97.4 | 83.4 | — | 93.4 | 79.3 | 99.8 | 98.3 | 78.9 | 91.7 | — | — | 94.9 | — | — | — | — | — | — | — | — | — | — | — | |
| DPODv2Data=R2026.06 | 80 | 99.7 | 99.2 | 99.6 | 95.1 | 98.9 | 79.5 | — | 99.8 | 72.3 | 99.4 | 96.3 | 96.8 | 93.5 | — | — | 99.6 | — | — | — | — | — | — | — | — | — | — | — | |
| DF(per-pixel)Modality=RGBD2019.11 | 79.5 | 84.2 | 76.5 | 86.6 | 88.8 | 77.7 | 76.3 | — | 99.4 | 79 | 92.1 | 92.3 | 88 | 86.2 | — | — | 99.9 | — | — | — | — | — | — | — | — | — | — | — | |
| DeepIMTrain data=Real, Refinement=Deep Refinement2019.02 | 77 | 97.5 | 93.5 | 96.5 | 82.1 | 95 | 77.7 | — | 99.4 | 52.8 | 98.3 | 97.5 | 87.7 | 88.6 | — | — | 97.1 | — | — | — | — | — | — | — | — | — | — | — | |
| PoseCNNModality=RGB2019.11 | 77 | 97.5 | 93.5 | 96.5 | 82.1 | 95 | 77.7 | — | 99.4 | 52.8 | 98.3 | 97.5 | 87.7 | 88.6 | — | — | 97.1 | — | — | — | — | — | — | — | — | — | — | — | |
| Self6D++Data=S + R−2026.06 | 76 | 91.6 | 97.1 | 99.8 | 85.6 | 98.8 | 56.5 | — | 92.2 | 35.4 | 99.5 | 97.4 | 91.8 | 85.6 | — | — | 91 | — | — | — | — | — | — | — | — | — | — | — | |
| MASTData=S + R−2026.06 | 73.5 | 97.2 | 80.8 | 98.6 | 89.1 | 93.9 | 66.9 | — | 95.4 | 69.8 | 95.5 | 98.9 | 93.4 | 93.2 | — | — | 95.3 | — | — | — | — | — | — | — | — | — | — | — | |
| Point-FusionModality=RGBD2019.11 | 70.4 | 80.7 | 60.8 | 61.1 | 79.1 | 47.3 | 63 | — | 99.3 | 71.8 | 83.2 | 62.3 | 78.8 | 73.7 | — | — | 99.9 | — | — | — | — | — | — | — | — | — | — | — | |
| MARData=S2026.06 | 68.6 | 97.4 | 79.4 | 98.3 | 87.1 | 94.2 | 61.3 | — | 87.1 | 56.7 | 94.3 | 92.3 | 68.8 | 82.1 | — | — | 82 | — | — | — | — | — | — | — | — | — | — | — | |
| SSD-6Drefinement=true2018.12 | 65 | 80 | 78 | 86 | 70 | 73 | 66 | 100 | 100 | 49 | 78 | 73 | 79 | 79 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSD-6D ICPModality=RGB2019.11 | 65 | 80 | 78 | 86 | 70 | 73 | 66 | — | 100 | 49 | 78 | 73 | 79 | 79 | — | — | 100 | — | — | — | — | — | — | — | — | — | — | — | |
| CDPNModality=RGB2019.11 | 64.4 | 97.8 | 91.7 | 95.9 | 83.8 | 96.2 | 66.8 | — | 99.6 | 85.8 | 97.9 | 97.9 | 90.8 | 89.9 | — | — | 99.7 | — | — | — | — | — | — | — | — | — | — | — | |
| DPODv2Data=S2026.06 | 62.1 | 88.3 | 92.5 | 96.6 | 86.1 | 90.1 | 54.8 | — | 95.4 | 27 | 98.2 | 91 | 74.3 | 81.2 | — | — | 98.6 | — | — | — | — | — | — | — | — | — | — | — | |
| DPODTrain data=Synthetic, Refinement=Deep Refinement2019.02 | 55.23 | 72.69 | 34.76 | 83.59 | 65.1 | 73.32 | 50.04 | — | 84.37 | 35.35 | 98.78 | 74.27 | 46.98 | 66.43 | — | — | 89.05 | — | — | — | — | — | — | — | — | — | — | — | |
| DPODTrain data=Real, Refinement=None2019.02 | 53.28 | 95.34 | 90.36 | 94.1 | 60.38 | 97.72 | 66.01 | — | 93.83 | 65.83 | 99.8 | 88.11 | 74.24 | 82.98 | — | — | 99.72 | — | — | — | — | — | — | — | — | — | — | — | |
| GDR-NetData=S2026.06 | 50.9 | 99.4 | 89.2 | 97.2 | 79.9 | 98.7 | 24.6 | — | 81.2 | 41.9 | 98.8 | 98.9 | 64.3 | 77.4 | — | — | 81.1 | — | — | — | — | — | — | — | — | — | — | — | |
| PVNetTrain data=Real, Refinement=None2019.02 | 43.62 | 99.9 | 86.86 | 95.47 | 79.34 | 96.43 | 52.58 | — | 95.66 | 81.92 | 98.88 | 99.33 | 92.41 | 86.27 | — | — | 99.15 | — | — | — | — | — | — | — | — | — | — | — | |
| PVNetModality=RGB2019.11 | 43.6 | 99.9 | 86.9 | 95.5 | 79.3 | 96.4 | 52.6 | — | 95.7 | 82 | 98.9 | 99.3 | 92.4 | 86.3 | — | — | 99.2 | — | — | — | — | — | — | — | — | — | — | — | |
| MobilePose-BaseMetric=ADD-0.1d2020.03 | 42.7 | — | — | 72.78 | 50.28 | 68.16 | 39.57 | — | 93.44 | 56.45 | — | — | — | — | — | — | 91.98 | — | — | — | — | — | — | — | — | — | — | — | |
| KPDrefinement=false2018.12 | 41.2 | 85.7 | 78.9 | 85.2 | 73.9 | 77 | 42.7 | 78.9 | 72.5 | 63.9 | 94.4 | 98.1 | 51 | 72.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BB8refinement=true2018.12 | 40.4 | 91.8 | 55.7 | 64.1 | 62.6 | 74.4 | 44.3 | 57.8 | 41.2 | 67.2 | 84.7 | 76.5 | 54 | 62.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPODTrain data=Synthetic, Refinement=None2019.02 | 37.22 | 66.76 | 24.22 | 52.57 | 32.36 | 66.6 | 26.12 | — | 74.96 | 24.5 | 85.02 | 57.26 | 29.08 | 50 | — | — | 73.35 | — | — | — | — | — | — | — | — | — | — | — | |
| Brachmannrefinement=true2018.12 | 33.2 | 64.8 | 38.4 | 62.9 | 42.7 | 61.9 | 30.2 | 49.9 | 31.2 | 52.8 | 80 | 67 | 38.1 | 50.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BB8refinement=false2018.12 | 27.9 | 62 | 40.1 | 48.1 | 45.2 | 58.6 | 32.8 | 40 | 27 | 42.4 | 67 | 39.9 | 35.2 | 43.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| YOLO6DTrain data=Real, Refinement=None2019.02 | 21.62 | 81.8 | 36.57 | 68.8 | 41.82 | 63.51 | 27.23 | — | 80.02 | 42.63 | 74.97 | 71.11 | 47.74 | 55.95 | — | — | 69.58 | — | — | — | — | — | — | — | — | — | — | — | |
| YOLO-6DMetric=ADD-0.1d2020.03 | 21.62 | — | — | 68.8 | 41.82 | 63.51 | 27.23 | — | 80.02 | 42.63 | — | — | — | — | — | — | 69.58 | — | — | — | — | — | — | — | — | — | — | — | |
| Tekinrefinement=false2018.12 | 21.6 | 81.8 | 36.6 | 68.8 | 41.8 | 63.5 | 27.2 | 69.6 | 80 | 42.6 | 75 | 71.1 | 47.7 | 56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ImplicitModality=RGB2019.11 | 20.6 | 64.3 | 63.2 | 76.1 | 72 | 41.6 | 32.4 | — | 96.4 | 49.9 | 63.1 | 91.7 | 71 | 64.7 | — | — | 98.6 | — | — | — | — | — | — | — | — | — | — | — | |
| AAETrain data=Synthetic, Refinement=None2019.02 | 3.96 | 20.92 | 30.47 | 35.87 | 17.9 | 23.99 | 4.86 | — | 45.49 | 17.6 | 32.03 | 60.47 | 33.79 | 28.65 | — | — | 81.01 | — | — | — | — | — | — | — | — | — | — | — | |
| SSD6DTrain data=Synthetic, Refinement=None2019.02 | 2.6 | 15.1 | 6.1 | 27.3 | 9.3 | 12 | 1.3 | — | 3.4 | 3.1 | 14.6 | 11.4 | 9.7 | 9.1 | — | — | 2.8 | — | — | — | — | — | — | — | — | — | — | — | |
| SSD-6Drefinement=false2018.12 | 0 | 0.2 | 0.4 | 1.4 | 0.5 | 2.6 | 0 | 8.9 | 0 | 0.3 | 8.9 | 8.2 | 0.2 | 2.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BB8Refinement=w/o refinement2018.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 83.9 | — | — | — | — | — | — | — | — | — | — | — | — | |
| BB8Refinement=w/ refinement2018.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.3 | — | — | — | — | — | — | — | — | — | — | — | — | |
| CDPN2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.86 | — | 94.31 | — | — | — | — | |
| CDPNType=PnP + Explicit depth2023.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.86 | — | |
| Densefusionmode=Per-pixel2021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.2 | |
| Densefusioniterative refinement=true2021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 94.3 | |
| DenseFusion2019.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 94.3 | — | — | — | — | — | — | — | — | — | |
| DPOD2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 95.15 | — | — | — | — | — | — | |
| DPODType=PnP + Explicit refiner2023.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 95.15 | — | |
| DPOD + DeepIMRefinement=DeepIM [18], Initial Pose=Ours (DPOD)2019.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.81 | — | — | — | — | — | — | — | — | — | — | |
| DPOD + Our ref.Refinement=DPOD refinement (5 ms/object), Initial Pose=Ours (DPOD), Frames per second=332019.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 95.15 | — | — | — | — | — | — | — | — | — | — | |
| DualPoseNet2021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 94.6 | |
| DualPoseNetiterative refinement=true2021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 98.2 | |
| EPro-PnP2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 95.8 | 80.99 | 98.54 | 44.81 | 81.96 | — | — | |
| EPro-PnPType=PnP2023.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 43.77 | 81.73 | 96.36 | — | |
| FS6D-DPMGroup=02022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 70 | — | — | — | — | — | — | |
| FS6D-DPMGroup=12022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.8 | — | — | — | — | — | — | |
| FS6D-DPMGroup=22022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 93.4 | — | — | — | — | — | — | |
| FS6D-DPMGroup=Mean2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 83.4 | — | — | — | — | — | — | |
| GDRNetType=PnP + Explicit depth2023.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 35.6 | 76 | 93.6 | — | |
| GDRNet*2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 93.6 | 67.1 | — | 35.6 | 76 | — | — | |
| HybridPose2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.3 | — | — | — | — | — | — | |
| HybridPoseType=Hybrid constraints2023.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.3 | — | |
| LOFTRGroup=02022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 38 | — | — | — | — | — | — | |
| LOFTRGroup=12022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 30.4 | — | — | — | — | — | — | |
| LOFTRGroup=22022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 30.3 | — | — | — | — | — | — | |
| LOFTRGroup=Mean2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 33.4 | — | — | — | — | — | — | |
| MaskedFusionAggregation=Average2019.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 97.3 | 0.3 | — | — | — | — | — | — | — | — | |
| MaskedFusionExperiment=12019.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 97.2 | — | — | — | — | — | — | — | — | — | |
| MaskedFusionExperiment=22019.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 97 | — | — | — | — | — | — | — | — | — | |
| MaskedFusionExperiment=32019.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 97.1 | — | — | — | — | — | — | — | — | — | |
| MaskedFusionExperiment=42019.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 97.8 | — | — | — | — | — | — | — | — | — | |
| MaskedFusionExperiment=52019.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 97.5 | — | — | — | — | — | — | — | — | — | |
| Pointfusion2021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 73.7 | |
| PointFusion2019.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 73.7 | — | — | — | — | — | — | — | — | — | |
| PoseCNNTrain data=Real, Refinement=None2019.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | 62.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PoseCNN + DeepIMRefinement=DeepIM [18], Initial Pose=PoseCNN [34]2019.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 88.6 | — | — | — | — | — | — | — | — | — | — | |
| PREDATORGroup=02022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 55.1 | — | — | — | — | — | — | |
| PREDATORGroup=12022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 40.4 | — | — | — | — | — | — | |
| PREDATORGroup=22022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 46.8 | — | — | — | — | — | — | |
| PREDATORGroup=Mean2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 48 | — | — | — | — | — | — | |
| PVNetRefinement=w/o refinement2018.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVNet-RePOSE2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 96.1 | — | — | — | — | — | — | |
| PVNet-RePOSEType=PnP + Implicit refiner2023.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 96.1 | — | |
| PVNet-RNNPoseType=PnP + Implicit refiner2023.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 50.39 | 85.56 | 97.37 | — | |
| Single Shot 6DRefinement=false2017.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99.92 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSD-6DRefinement=false2017.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99.22 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSD-6DRefinement=true2017.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSD-6D + ICP2019.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.7 | — | — | — | — | — | — | — | — | — | |
| SSD6DTrain data=Synthetic, Refinement=Deep Refinement2019.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | 34.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TekinRefinement=w/o refinement2018.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 90.37 | — | — | — | — | — | — | — | — | — | — | — | — | |
| TP-UBGroup=02022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 8.1 | — | — | — | — | — | — | |
| TP-UBGroup=12022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 10 | — | — | — | — | — | — | |
| TP-UBGroup=22022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 13.2 | — | — | — | — | — | — | |
| TP-UBGroup=Mean2022.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 10.1 | — | — | — | — | — | — | |
| W-PoseNet2021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 97.2 | |
| W-PoseNetiterative refinement=true2021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 98.1 |