6DoF Pose Estimation on YCB-Video (test)
1002D Error < 2cm Rate3DP3
Evaluation results
| Method | Links | ||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 3DP3Object Type=002_master_chef_can, # of Scenes=10062021.10 | 100 | — | — | — | — | — | 74 | 99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=002_master_chef_can, # of Scenes=10062021.10 | 100 | — | — | — | — | — | 79 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=002_master_chef_can, # of Scenes=10062021.10 | 100 | — | — | — | — | — | 84 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=004_sugar_box, # of Scenes=11822021.10 | 100 | — | — | — | — | — | 100 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=004_sugar_box, # of Scenes=11822021.10 | 100 | — | — | — | — | — | 99 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=004_sugar_box, # of Scenes=11822021.10 | 100 | — | — | — | — | — | 98 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=006_mustard_bottle, # of Scenes=3572021.10 | 100 | — | — | — | — | — | 99 | 99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=006_mustard_bottle, # of Scenes=3572021.10 | 100 | — | — | — | — | — | 98 | 99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=006_mustard_bottle, # of Scenes=3572021.10 | 100 | — | — | — | — | — | 94 | 98 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=007_tuna_fish_can, # of Scenes=11482021.10 | 100 | — | — | — | — | — | 81 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=007_tuna_fish_can, # of Scenes=11482021.10 | 100 | — | — | — | — | — | 80 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=007_tuna_fish_can, # of Scenes=11482021.10 | 100 | — | — | — | — | — | 91 | 99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=008_pudding_box, # of Scenes=2142021.10 | 100 | — | — | — | — | — | 100 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=008_pudding_box, # of Scenes=2142021.10 | 100 | — | — | — | — | — | 97 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=008_pudding_box, # of Scenes=2142021.10 | 100 | — | — | — | — | — | 70 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=009_gelatin_box, # of Scenes=2142021.10 | 100 | — | — | — | — | — | 100 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=009_gelatin_box, # of Scenes=2142021.10 | 100 | — | — | — | — | — | 100 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=009_gelatin_box, # of Scenes=2142021.10 | 100 | — | — | — | — | — | 100 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=011_banana, # of Scenes=3792021.10 | 100 | — | — | — | — | — | 98 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=011_banana, # of Scenes=3792021.10 | 100 | — | — | — | — | — | 96 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=011_banana, # of Scenes=3792021.10 | 100 | — | — | — | — | — | 82 | 97 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=019_pitcher_base, # of Scenes=5702021.10 | 100 | — | — | — | — | — | 100 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=019_pitcher_base, # of Scenes=5702021.10 | 100 | — | — | — | — | — | 99 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=019_pitcher_base, # of Scenes=5702021.10 | 100 | — | — | — | — | — | 99 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=021_bleach_cleanser, # of Scenes=10292021.10 | 100 | — | — | — | — | — | 94 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=021_bleach_cleanser, # of Scenes=10292021.10 | 100 | — | — | — | — | — | 88 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=021_bleach_cleanser, # of Scenes=10292021.10 | 100 | — | — | — | — | — | 80 | 99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=025_mug, # of Scenes=6362021.10 | 100 | — | — | — | — | — | 89 | 98 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=025_mug, # of Scenes=6362021.10 | 100 | — | — | — | — | — | 89 | 98 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=025_mug, # of Scenes=6362021.10 | 100 | — | — | — | — | — | 92 | 99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=036_wood_block, # of Scenes=2422021.10 | 100 | — | — | — | — | — | 36 | 96 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=036_wood_block, # of Scenes=2422021.10 | 100 | — | — | — | — | — | 33 | 93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=036_wood_block, # of Scenes=2422021.10 | 100 | — | — | — | — | — | 7 | 88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=040_large_marker, # of Scenes=6482021.10 | 100 | — | — | — | — | — | 100 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=040_large_marker, # of Scenes=6482021.10 | 100 | — | — | — | — | — | 100 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=040_large_marker, # of Scenes=6482021.10 | 100 | — | — | — | — | — | 99 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=061_foam_brick, # of Scenes=2882021.10 | 100 | — | — | — | — | — | 26 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=061_foam_brick, # of Scenes=2882021.10 | 100 | — | — | — | — | — | 24 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=061_foam_brick, # of Scenes=2882021.10 | 100 | — | — | — | — | — | 1 | 99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=003_cracker_box, # of Scenes=8682021.10 | 99 | — | — | — | — | — | 90 | 99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=003_cracker_box, # of Scenes=8682021.10 | 99 | — | — | — | — | — | 83 | 98 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=003_cracker_box, # of Scenes=8682021.10 | 99 | — | — | — | — | — | 79 | 97 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=035_power_drill, # of Scenes=10572021.10 | 99 | — | — | — | — | — | 98 | 99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=035_power_drill, # of Scenes=10572021.10 | 99 | — | — | — | — | — | 96 | 99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=035_power_drill, # of Scenes=10572021.10 | 99 | — | — | — | — | — | 88 | 98 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=037_scissors, # of Scenes=1812021.10 | 99 | — | — | — | — | — | 75 | 87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=037_scissors, # of Scenes=1812021.10 | 99 | — | — | — | — | — | 69 | 84 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=037_scissors, # of Scenes=1812021.10 | 98 | — | — | — | — | — | 20 | 70 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=005_tomato_soup_can, # of Scenes=14402021.10 | 97 | — | — | — | — | — | 95 | 97 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=005_tomato_soup_can, # of Scenes=14402021.10 | 97 | — | — | — | — | — | 93 | 97 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=005_tomato_soup_can, # of Scenes=14402021.10 | 97 | — | — | — | — | — | 93 | 97 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusion (iterative)Fusion method=dense fusion, Refinement strategy=iterative2019.01 | 96.8 | — | 93.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MaskedFusionMask Source=Sub-task Generated2019.11 | 96.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=024_bowl, # of Scenes=4062021.10 | 96 | — | — | — | — | — | 93 | 96 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=024_bowl, # of Scenes=4062021.10 | 96 | — | — | — | — | — | 87 | 96 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusion (per-pixel)Fusion method=dense fusion, Refinement strategy=per-pixel2019.01 | 95.3 | — | 91.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusion2019.11 | 95.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=024_bowl, # of Scenes=4062021.10 | 94 | — | — | — | — | — | 50 | 56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PoseCNN+ICPRefinement strategy=ICP2019.01 | 93.2 | — | 93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PoseCNN + ICP2019.11 | 93.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=010_potted_meat_can, # of Scenes=7662021.10 | 93 | — | — | — | — | — | 80 | 89 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=010_potted_meat_can, # of Scenes=7662021.10 | 93 | — | — | — | — | — | 78 | 88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=010_potted_meat_can, # of Scenes=7662021.10 | 92 | — | — | — | — | — | 79 | 87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusion (single)Fusion method=dense fusion, Refinement strategy=single2019.01 | 87.9 | — | 88.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=051_large_clamp, # of Scenes=7122021.10 | 79 | — | — | — | — | — | 68 | 71 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=051_large_clamp, # of Scenes=7122021.10 | 79 | — | — | — | — | — | 64 | 70 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=051_large_clamp, # of Scenes=7122021.10 | 79 | — | — | — | — | — | 25 | 33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointFusionFusion method=CNN fixed-size concatenation, Refinement strategy=N/A2019.01 | 74.1 | — | 83.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointFusion2019.11 | 74.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionObject Type=052_extra_large_clamp, # of Scenes=6822021.10 | 74 | — | — | — | — | — | 12 | 17 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3*Object Type=052_extra_large_clamp, # of Scenes=6822021.10 | 70 | — | — | — | — | — | 27 | 34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DP3Object Type=052_extra_large_clamp, # of Scenes=6822021.10 | 69 | — | — | — | — | — | 33 | 38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 6D-DiffInput=RGB2023.12 | — | — | 91.5 | — | — | 83.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BundleSDF2024.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.014 | 0.012 | 14 | 37 | 55 | — | — | |
| CDPNv2Training Data=Real Images2024.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 53.2 | — | — | — | — | — | — | — | |
| CheckerPoseInput=RGB2023.12 | — | — | 91.3 | — | — | 81.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CIRTraining Data=Real Images2024.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 82.4 | — | — | — | — | — | — | — | |
| CosyPoseRefinement=With refinement2021.10 | — | — | 84.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CosyPoseData=pbr, Unified Model=true2022.05 | — | — | — | — | — | 89.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CosyPose3D Model=IR, ROI Source=Predicted2022.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.8 | — | — | — | — | — | — | — | — | — | — | |
| CosyPoseInput=RGB2023.12 | — | — | 89.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CosyPoseTraining Data=Real Images2024.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 82.1 | — | — | — | — | — | — | — | |
| CosyPose2024.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.01 | 0.007 | 30 | 56 | 68 | — | — | |
| CosyPoseP.E.=1, Refinement=true2021.08 | — | — | 84.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.8 | |
| CRISP-RealTraining data source=Real, Self-training (ST)=false2024.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.011 | 0.005 | 41 | 62 | 73 | — | — | |
| CRISP-SynTraining data source=Synthetic, Self-training (ST)=false2024.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.02 | 0.015 | 12 | 30 | 45 | — | — | |
| CRISP-Syn-ST (BCD)Training data source=Synthetic, Self-training (ST)=true, Corrector type=BCD2024.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.017 | 0.01 | 22 | 42 | 54 | — | — | |
| CRISP-Syn-ST (LSQ)Training data source=Synthetic, Self-training (ST)=true, Corrector type=LSQ2024.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.016 | 0.01 | 24 | 44 | 56 | — | — | |
| CRT-6DTraining Data=Real Images2024.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 75.2 | — | — | — | — | — | — | — | |
| DeepIMRefinement=With refinement2021.10 | — | — | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepIMData=syn, Unified Model=true2022.05 | — | — | — | — | — | 88.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepIM3D Model=IR, ROI Source=Predicted2022.11 | — | — | — | — | — | — | — | — | — | — | 93.1 | 91 | 96.2 | 92.4 | 95.1 | 96.1 | 90.7 | 94.3 | 86.4 | 72.3 | 94.6 | 90.3 | 81.4 | 91.3 | 92.3 | 81.9 | 75.4 | 86.2 | 74.3 | 73.2 | 81.9 | 88.1 | — | — | — | — | — | — | — | — | — | — | |
| DeepIM2023.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 53.6 | — | — | — | — | — | — | — | — | — | |
| DeepIMP.E.=1, Refinement=true2021.08 | — | — | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 88.1 | |
| Densefusionmode=Per-pixel2021.03 | — | — | — | 91.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Densefusioniterative refinement=true2021.03 | — | — | — | 93.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionSource=[28]2019.11 | — | — | 93.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionTraining Epochs=2002019.11 | — | — | — | 93.3 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionTraining Epochs=1002019.11 | — | — | — | 91.1 | 0.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DenseFusionTraining Epochs=1002019.11 | — | — | — | 96 | 0.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |