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ResearchFormerly WizWand

6D Pose Estimation on MOPED

1,380Chamfer Distance (Cheezit)DNG2

Evaluation results

Method	Links
DNG22026.02		1,380	65.6	28.6	73.5	45	53.3	13.6	2,640	490	1,410	520	2,720	0.136	0.163	0.073	0.137	0.065	0.132
Gen6D2026.02		8,700	14.5	0.4	11	5.6	14.3	7.3	23,800	10,300	15,900	11,700	10,300	0.234	0.364	0.171	0.225	0.147	0.131
OnePose++2026.02		22,500	—	—	—	—	—	—	6,200	11,900	11,200	49,100	10,900	0.242	0.127	0.166	0.176	0.297	0.135