6D Pose Estimation on SurgRIPE Non-occ
4.78RE (°)Surfemb
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| SurfembTraining setting=syn+real2026.05 | 4.78 | 2.28 | 44.77 | 59.4 | |
| SurfSurg6DTraining setting=syn+real2026.05 | 4.78 | 2.44 | 45.04 | 60.06 | |
| SurfSurg6DTraining setting=real2026.05 | 5.05 | 2.94 | 41.55 | 54.74 | |
| IGTUMTraining setting=real2026.05 | 5.18 | 2.56 | 41.82 | 56.69 | |
| SurfembTraining setting=real2026.05 | 5.21 | 2.91 | 39.67 | 54.48 | |
| GDR-NetTraining setting=syn+real2026.05 | 8.01 | 3.23 | 32.43 | 47.01 | |
| MRC-NetTraining setting=syn+real2026.05 | 11.17 | 3.14 | 43.16 | 55.14 | |
| GDR-NetTraining setting=real2026.05 | 11.29 | 3.65 | 28.95 | 39.76 | |
| MRC-NetTraining setting=real2026.05 | 14.84 | 3.42 | 37 | 49.85 | |
| ICLTraining setting=real2026.05 | 57.17 | 63.32 | 18.23 | 26.57 | |
| FoundPoseTraining setting=zero-shot2026.05 | 112.34 | 28.86 | 2.2 | 5.49 | |
| MegaPoseTraining setting=zero-shot2026.05 | 132.3 | 12.4 | 0 | 0.13 |