# 6DoF Pose Estimation on Synthetic YCB-Challenging (Partially Occluded)

Source: [6DoF Pose Estimation on Synthetic YCB-Challenging (Partially Occluded)](<https://www.sota2.com/research/sota/6dof-pose-estimation-on-synthetic-ycb-challenging-partially-occluded>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T05:26:48.081Z

Evaluation of 6 Degrees of Freedom (6DoF) object pose estimation performance on the Synthetic YCB-Challenging dataset, specifically focusing on partially occluded scenarios, reporting accuracy thresholds at 0.5cm, 1.0cm, and 2.0cm.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | 6DoF Pose Estimation |
| Dataset (including any stated split) | Synthetic YCB-Challenging (Partially Occluded) |
| Metric | Acc (0.5cm) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 2 of 2 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Acc (0.5cm)](<https://www.sota2.com/research/sota/6dof-pose-estimation-on-synthetic-ycb-challenging-partially-occluded.md?metric=Acc%20(0.5cm)>): Higher is better; unit: PERCENT.

- [Acc (1.0cm)](<https://www.sota2.com/research/sota/6dof-pose-estimation-on-synthetic-ycb-challenging-partially-occluded.md?metric=Acc%20(1.0cm)>): Higher is better; unit: PERCENT.

- [Acc (2.0cm)](<https://www.sota2.com/research/sota/6dof-pose-estimation-on-synthetic-ycb-challenging-partially-occluded.md?metric=Acc%20(2.0cm)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Acc (0.5cm) | Result date | Report paper |
| --- | --- | --- | --- |
| 3DP3 | 70 | Not recorded | 68fa6b2e1e209131cea2ca91 |
| DenseFusion | 55 | Not recorded | 68fa6b2e1e209131cea2ca91 |

### 3DP3

Acc (0.5cm): 70. Result ID: 698e6b43ffc3901de09d71b9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6b2e1e209131cea2ca91.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b2e1e209131cea2ca91.md>)

[Implementation](<https://github.com/probcomp/ThreeDP3>)

Recorded evaluation configuration: {"Object Type":"006\_mustard\_bottle","Number of Scenes":"129"}. This record does not assert independent reproduction.

### DenseFusion

Acc (0.5cm): 55. Result ID: 698e6b43ffc3901de09d71ba.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6b2e1e209131cea2ca91.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa654e1e209131cea097e5.md>)

[Implementation](<https://sites.google.com/view/densefusion/>)

Recorded evaluation configuration: {"Object Type":"006\_mustard\_bottle","Number of Scenes":"129"}. This record does not assert independent reproduction.

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