6D Pose Tracking on YCB-Video (All Frames)
96AUC (ADD)FoundationPose
Evaluation results
| Method | Links | ||
|---|---|---|---|
| FoundationPoseInitial pose=GT, Re-initialization=No, Novel object=Yes, Object setup=Model-based2023.12 | 96 | 97.9 | |
| FoundationPoseInitial pose=GT, Re-initialization=No, Novel object=Yes, Object setup=Model-free2023.12 | 93.7 | 97.5 | |
| FoundationPoseModality=CAD, Reference Config=16-CAD2025.05 | 93.7 | 97.5 | |
| se(3)-TrackNetInitial pose=GT, Re-initialization=No, Novel object=No, Object setup=Model-based2023.12 | 93 | 95.7 | |
| WüthrichInitial pose=GT, Re-initialization=No, Novel object=Yes, Object setup=Model-based2023.12 | 92.5 | 96.7 | |
| PoseRBPFInitial pose=PoseCNN, Re-initialization=Yes (±2°), Novel object=Yes, Object setup=Model-based2023.12 | 87.5 | 95.2 | |
| ICGInitial pose=GT, Re-initialization=No, Novel object=Yes, Object setup=Model-based2023.12 | 86.4 | 96.5 | |
| ICGModality=CAD2025.05 | 86.4 | 96.5 | |
| One2AnyModality=1st2025.05 | 84.8 | 93.8 | |
| DeepIMInitial pose=Yes (±30°), Re-initialization=No, Novel object=No, Object setup=Model-based2023.12 | 82.3 | 91.9 | |
| WuthrichModality=CAD2025.05 | 78 | 90.2 | |
| RGFInitial pose=GT, Re-initialization=No, Novel object=Yes, Object setup=Model-based2023.12 | 59.2 | 74.3 | |
| RGFModality=CAD2025.05 | 59.2 | 74.3 | |
| FoundationPoseModality=1st-CAD, Reference Config=1st-CAD2025.05 | 57.9 | 80.9 |