6D Pose Tracking on dataset S4 (held-out synthetic)
261.4Absolute Translation Error (mm)One2Any
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| One2AnyDepth=true, Obj. Mask=true2026.07 | 261.4 | 59.1 | 102.8 | 20.41 | 40.08 | |
| ConceptPoseDepth=true, Obj. Mask=true2026.07 | 269.9 | 105.2 | 323.7 | 115.8 | 50.25 | |
| ProxyPose (two queries)Number of Queries=2, Obj. Mask=true2026.07 | 435.1 | 21.53 | 29.61 | 2.605 | 15.03 | |
| ProxyPose (three queries)Number of Queries=3, Obj. Mask=true2026.07 | 451.4 | 22.94 | 32.08 | 3.1 | 17.3 | |
| SpatialTracker V2 (pixel level)Depth=true2026.07 | 453.2 | 40.9 | 50.65 | 19.58 | 12.56 | |
| ProxyPose (one query)Number of Queries=12026.07 | 480.3 | 19.79 | 29.92 | 1.92 | 15.17 | |
| SpatialTracker V2 (object level)Depth=true, Obj. Mask=true2026.07 | 538.6 | 38.48 | 47.52 | 7.29 | 22 | |
| Oryon3D Model=true2026.07 | 671.4 | 83.5 | 247.9 | 78.24 | 38.34 | |
| BundleSDFDepth=true2026.07 | 682.9 | 39.07 | 162.6 | 14.2 | 29.06 | |
| FoundationPose (registration)3D Model=true, Depth=true2026.07 | 728.8 | 70.5 | 341.9 | 67.73 | 38.65 | |
| CoTracker 3 + DA3 (object level)Depth=true, Obj. Mask=true2026.07 | 787.4 | 38.67 | 120.2 | 10.1 | 26.87 | |
| CoTracker 3 + DA3 (pixel level)Depth=true2026.07 | 845.1 | 47.54 | 86.2 | 10.75 | 50.77 | |
| Any6DDepth=true, Obj. Mask=true2026.07 | 865.4 | 100 | 623.5 | 88.61 | 50.27 | |
| FoundationPose (track)3D Model=true, Depth=true2026.07 | 892.2 | 28.87 | 99.06 | 5.47 | 43.82 |