6D Pose Estimation on SurgRIPE occ
8.57RE (°)SurfSurg6D
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| SurfSurg6DTraining setting=real2026.05 | 8.57 | 3.61 | 44.96 | 57.87 | |
| SurfSurg6DTraining setting=syn+real2026.05 | 9.42 | 2.92 | 49.15 | 60.22 | |
| SurfembTraining setting=real2026.05 | 10.36 | 4.12 | 44.53 | 57.53 | |
| SurfembTraining setting=syn+real2026.05 | 10.44 | 3.33 | 45.38 | 58.32 | |
| IGTUMTraining setting=real2026.05 | 10.71 | 5.4 | 36.55 | 50.44 | |
| GDR-NetTraining setting=syn+real2026.05 | 11.78 | 4.21 | 31.51 | 42.66 | |
| MRC-NetTraining setting=syn+real2026.05 | 13.1 | 3.66 | 28.57 | 43.32 | |
| GDR-NetTraining setting=real2026.05 | 15.03 | 4.13 | 28.99 | 48.95 | |
| MRC-NetTraining setting=real2026.05 | 20.99 | 4.71 | 21.85 | 34.81 | |
| ICLTraining setting=real2026.05 | 28.45 | 66.52 | 20.59 | 28.99 | |
| FoundPoseTraining setting=zero-shot2026.05 | 116.79 | 25.37 | 2.05 | 5.43 | |
| MegaPoseTraining setting=zero-shot2026.05 | 125.96 | 12 | 0 | 0.14 |