6D Pose Estimation on YCB-V (ADD(-S) Metrics)
97.4AUC (ADD-S)FoundationPose
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| FoundationPoseYear=2024, Ref views=162026.05 | 97.4 | — | — | 91.5 | |
| SyMFM6DUnknown Cam. Pose=false, Number of views=12026.03 | 96.8 | — | 94.1 | — | |
| MVTOPNumber of views=1v2025.08 | 96.5 | — | — | — | |
| SyMFM6DUnknown Cam. Pose=false, Number of views=32026.03 | 95.4 | — | 91.7 | — | |
| SyMFM6DUnknown Cam. Pose=false, Number of views=52026.03 | 95.4 | — | 91.6 | — | |
| MultiCamUnknown Cam. Pose=true, Number of views=52026.03 | 93.9 | — | 89.8 | — | |
| CosyPoseNumber of views=5v2025.08 | 93.4 | — | — | — | |
| CosyPoseUnknown Cam. Pose=true, Number of views=52026.03 | 93.4 | — | 88.8 | — | |
| MultiCamUnknown Cam. Pose=true, Number of views=12026.03 | 93.3 | — | 88.8 | — | |
| MultiCamUnknown Cam. Pose=true, Number of views=32026.03 | 93.2 | — | 88.8 | — | |
| PoET2025.08 | 92.8 | — | — | — | |
| VAPOPipeline Strategy=Indirect2026.03 | 92.3 | 84.9 | 87.9 | — | |
| CosyPoseUnknown Cam. Pose=true, Number of views=32026.03 | 92.3 | — | 87.7 | — | |
| GDR-NetPipeline Strategy=End-to-End, Differentiable PnP Strategy=true2026.03 | 91.6 | 60.1 | 84.4 | — | |
| GDR-Net2025.08 | 91.6 | — | — | — | |
| 6D-DiffPipeline Strategy=Indirect2026.03 | 91.5 | 83.8 | 87 | — | |
| CheckerPosePipeline Strategy=Indirect2026.03 | 91.3 | 81.4 | 86.4 | — | |
| MV6DUnknown Cam. Pose=false, Number of views=32026.03 | 91.2 | — | 85.6 | — | |
| MV6DUnknown Cam. Pose=false, Number of views=52026.03 | 91.1 | — | 84 | — | |
| ZebraPosePipeline Strategy=Indirect2026.03 | 90.1 | 80.5 | 85.3 | — | |
| Cov2PosePipeline Strategy=End-to-End2026.03 | 90 | 69.7 | 82.2 | — | |
| OneViewAllYear=2026, Ref views=1, N=782026.05 | 89.9 | — | — | 84.4 | |
| CosyPoseNumber of views=1v2025.08 | 89.8 | — | — | — | |
| CosyPoseUnknown Cam. Pose=true, Number of views=12026.03 | 89.8 | — | 84.5 | — | |
| DeepIMPipeline Strategy=End-to-End2026.03 | 88.1 | — | 81.9 | — | |
| T6D2025.08 | 86.2 | — | — | — | |
| [15]Number of views=5v2025.08 | 80.2 | — | — | — | |
| PoseCNNPipeline Strategy=End-to-End2026.03 | 75.9 | — | 61.3 | — | |
| [15]Number of views=1v2025.08 | 75.1 | — | — | — | |
| FS6D-DPMYear=2022, Ref views=162026.05 | — | — | — | 42.1 | |
| LoFTRYear=2021, Ref views=162026.05 | — | — | — | 26.2 | |
| Pix2PosePipeline Strategy=End-to-End2026.03 | — | 45.7 | — | — | |
| PREDATORYear=2021, Ref views=162026.05 | — | — | — | 24.3 | |
| PVNetPipeline Strategy=Indirect2026.03 | — | — | 73.4 | — | |
| Single-StagePipeline Strategy=End-to-End, Differentiable PnP Strategy=true2026.03 | — | 53.9 | — | — | |
| SinRef-6DYear=2025, Ref views=12026.05 | — | — | — | 52.8 |