6DoF Pose Estimation on Occlusion Linemod (Part I)
24.9Average ErrorPoseCNN
Evaluation Results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| PoseCNNMethod Category=End-to-End2026.03 | 24.9 | 9.6 | 45.2 | 0.93 | 41.4 | 19.6 | 22 | 38.5 | 22.1 | |
| Pix2PoseMethod Category=End-to-End2026.03 | 36.3 | — | — | — | — | — | — | — | — | |
| PVNet2020.11 | 40.8 | 15.8 | 63.3 | 16.7 | 65.7 | 25.2 | 50.2 | 49.6 | 39.7 | |
| SSPE2020.11 | 43.3 | 19.2 | 65.1 | 18.9 | 69 | 25.3 | 52 | 51.4 | 45.6 | |
| Single-StageMethod Category=End-to-End, Differentiable PnP strategy=true2026.03 | 43.3 | 19.2 | 65.1 | 18.9 | 69 | 25.3 | 52 | 51.4 | 45.6 | |
| DPVR2020.11 | 43.5 | 19.2 | 69.8 | 21.1 | 71.6 | 34.3 | 47.3 | 39.7 | 45.3 | |
| SSPE-r2status=reimplemented2020.11 | 46.6 | 20.8 | 78.4 | 18.2 | 73.8 | 33.1 | 46 | 49.2 | 53.5 | |
| SSPE-ours2020.11 | 47.4 | 18.8 | 79.3 | 17.5 | 76.4 | 34.4 | 44.6 | 53.2 | 54.7 | |
| DeepIMMethod Category=End-to-End2026.03 | 55.5 | 59.2 | 63.5 | 26.2 | 55.6 | 52.4 | 63 | 71.7 | 52.5 | |
| Self6D++Method Category=End-to-End2026.03 | 59.8 | 57.7 | 95 | 52.6 | 90.5 | 26.7 | 45 | 87.1 | 23.5 | |
| GDR-NetMethod Category=End-to-End, Differentiable PnP strategy=true2026.03 | 62.2 | 46.8 | 90.8 | 40.5 | 82.6 | 46.9 | 54.2 | 75.8 | 60.1 | |
| Cov2PoseMethod Category=End-to-End2026.03 | 76.8 | 64 | 96.4 | 74.1 | 96.3 | 55.8 | 57.9 | 93.6 | 76.7 | |
| ZebraPoseMethod Category=Indirect2026.03 | 76.9 | 57.9 | 95 | 60.6 | 94.8 | 64.5 | 70.9 | 88.7 | 83 | |
| CheckerPoseMethod Category=Indirect2026.03 | 77.5 | 58.3 | 95.7 | 62.3 | 93.7 | 69.9 | 70 | 86.4 | 83.8 | |
| VAPOMethod Category=Indirect2026.03 | 78.02 | — | — | — | — | — | — | — | — | |
| 6D-DiffMethod Category=Indirect2026.03 | 79.6 | 60.6 | 97.9 | 63.2 | 96.6 | 67.2 | 73.5 | 92 | 85.5 |