6D Pose Estimation on YCB-Video (Object-wise ADD/ADDS AUC)
94.6Overall ADD AUCPANY
Evaluation Results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PANYRef. Images=1 + 8 unposed2026.06 | 94.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PANYRef. Images=12026.06 | 92.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| One2AnyRef. Images=12026.06 | 84.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FoundationPose*Ref. Images=1 (CAD)2026.06 | 76.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FS6D + ICPRef. Images=162026.06 | 42.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NOPE*Ref. Images=1 + GT Trans2026.06 | 25.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OryonRef. Images=12026.06 | 7.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionIterative Refinement=false2019.12 | — | 91.2 | 82.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionIterative Refinement=true2019.12 | — | 93.2 | 86.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PoseCNNIterative Refinement=false2019.12 | — | 75.8 | 59.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PoseCNN+ICPIterative Refinement=true2019.12 | — | 93 | 85.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| W-PoseNetIterative Refinement=false2019.12 | — | 93.1 | 87.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| W-PoseNetIterative Refinement=true2019.12 | — | 94.1 | 89.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |