6D Pose Estimation on SurgRIPE Average
6.42RE (°)SurfSurg6D
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| SurfSurg6DTraining setting=real2026.05 | 6.42 | 3.2 | 42.89 | 55.95 | |
| SurfSurg6DTraining setting=syn+real2026.05 | 6.59 | 2.63 | 47.46 | 60.12 | |
| SurfembTraining setting=syn+real2026.05 | 6.98 | 2.69 | 45.01 | 58.97 | |
| SurfembTraining setting=real2026.05 | 7.22 | 3.38 | 41.56 | 55.68 | |
| IGTUMTraining setting=real2026.05 | 7.33 | 3.66 | 39.76 | 54.25 | |
| GDR-NetTraining setting=syn+real2026.05 | 9.48 | 3.61 | 32.07 | 45.31 | |
| MRC-NetTraining setting=syn+real2026.05 | 11.92 | 3.34 | 37.47 | 50.53 | |
| GDR-NetTraining setting=real2026.05 | 12.75 | 3.84 | 28.97 | 43.33 | |
| MRC-NetTraining setting=real2026.05 | 17.24 | 3.92 | 31.09 | 43.99 | |
| ICLTraining setting=real2026.05 | 45.98 | 64.56 | 19.15 | 27.51 | |
| FoundPoseTraining setting=zero-shot2026.05 | 114.07 | 27.5 | 2.14 | 5.46 | |
| MegaPoseTraining setting=zero-shot2026.05 | 129.83 | 12.24 | 0 | 0.13 |