9D Pose Estimation on REAL275 (test)
66.3Success (5° 5cm)SSH-Pose
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SSH-PoseShape Priors=false, Method Category=Direct Regression2026.06 | 66.3 | — | 51.7 | 87.4 | — | — | — | — | — | — | 59.3 | — | 77.2 | |
| GCE-PoseShape Priors=true, Method Category=Correspondence-based2026.06 | 65.1 | — | — | 86.3 | — | — | — | — | — | — | 57 | — | 75.6 | |
| SpotPoseModality=RGB-D2025.08 | 64.8 | 84.1 | 81.2 | 88.2 | — | — | — | — | — | — | — | — | — | |
| SecondPoseShape Priors=false, Method Category=Direct Regression2026.06 | 63.6 | — | 49.7 | 86 | — | — | — | — | — | — | 56.2 | — | 74.7 | |
| AG-PoseModality=RGB-D2025.08 | 61.7 | 83.7 | 79.5 | 83.1 | — | — | — | — | — | — | — | — | — | |
| AG-PoseShape Priors=false, Method Category=Correspondence-based2026.06 | 61.7 | — | — | 83.1 | — | — | — | — | — | — | 54.7 | — | 74.7 | |
| MH6DShape Priors=true, Method Category=Direct Regression2026.06 | 61.1 | — | — | 82 | — | — | — | — | — | — | 53 | — | 72 | |
| CLIPoseShape Priors=false, Method Category=Direct Regression2026.06 | 58.3 | — | — | 85.2 | — | — | — | — | — | — | 48.7 | — | 70.4 | |
| VI-NetShape Priors=false, Method Category=Direct Regression2026.06 | 57.6 | — | 48.3 | 82.1 | — | — | — | — | — | — | 50 | — | 70.8 | |
| HS-PoseShape Priors=false, Method Category=Direct Regression2026.06 | 55.2 | — | — | 82.7 | — | — | — | — | — | — | 46.5 | — | 68.6 | |
| GPT-COPEShape Priors=true, Method Category=Correspondence-based2026.06 | 53.8 | — | — | 77.7 | — | — | — | — | — | — | 45.9 | — | 63.1 | |
| IST-NetShape Priors=false, Method Category=Correspondence-based2026.06 | 53.4 | — | — | 80.5 | — | — | — | — | — | — | 47.5 | — | 72.1 | |
| DPDNShape Priors=true, Method Category=Correspondence-based2026.06 | 50.7 | — | — | 78.4 | — | — | — | — | — | — | 46 | — | 70.4 | |
| DeMo-PoseSetting=RGB-D2026.03 | 47.7 | — | — | 79.3 | 80.6 | — | — | 84.2 | 83 | 66.8 | 34.7 | 17.86 | — | |
| GPV-PoseModality=RGB-D2025.08 | 42.9 | — | 64.4 | 73.3 | — | — | — | — | — | — | — | — | — | |
| GPV-PoseSetting=D2026.03 | 42.9 | — | — | 73.3 | 74.6 | — | — | 84.2 | 83 | 64.4 | 32 | 20 | — | |
| GPV-PoseShape Priors=false, Method Category=Direct Regression2026.06 | 42.9 | — | — | 73.3 | — | — | — | — | — | — | 32 | — | — | |
| SAR-NetShape Priors=true, Method Category=Correspondence-based2026.06 | 42.3 | — | — | 68.3 | — | — | — | — | — | — | 31.6 | — | 50.3 | |
| ACR-Pose-PN2Setting=RGB-D2026.03 | 41.3 | — | — | 56.7 | 67 | — | — | — | 82.3 | 66.6 | 36.7 | — | — | |
| SGPASetting=RGB-D2026.03 | 39.6 | — | — | 70.7 | — | — | — | — | 80.1 | 61.9 | 35.9 | — | — | |
| SGPAShape Priors=true, Method Category=Correspondence-based2026.06 | 39.6 | — | 37.1 | 70.7 | — | — | — | — | — | — | 35.9 | — | 61.3 | |
| DualPoseNetSetting=RGB-D2026.03 | 35.9 | — | — | 66.8 | — | — | — | — | 79.8 | 62.2 | 29.3 | 2 | — | |
| DualPoseNetShape Priors=false, Method Category=Direct Regression2026.06 | 35.9 | — | 30.8 | 66.8 | — | — | — | — | — | — | 29.3 | — | 50 | |
| DiffusionNOCSSetting=RGB-D2026.03 | 35 | — | — | 66.6 | — | — | — | — | — | — | — | — | — | |
| DO-NetSetting=D2026.03 | 34.8 | — | — | 67.4 | — | — | — | — | 80.4 | 63.7 | 24.1 | 10 | — | |
| CR-NetSetting=RGB-D2026.03 | 34.3 | — | — | 60.8 | — | — | — | — | 79.3 | 55.9 | 27.8 | — | — | |
| CenterSnap-RShape Priors=true, Method Category=Direct Regression2026.06 | 29.1 | — | — | 64.3 | — | — | — | — | — | — | — | — | — | |
| GS-PoseSetting=RGB-D2026.03 | 28.8 | — | — | — | 60.6 | — | — | 82.1 | 63.2 | — | — | — | — | |
| FS-NetSetting=D2026.03 | 28.2 | — | — | 60.8 | 64.6 | — | — | — | — | — | — | 20 | — | |
| FSDSetting=RGB-D2026.03 | 28.1 | — | — | 61.5 | 72.6 | — | — | 80.9 | 77.4 | — | — | — | — | |
| CASSSetting=RGB-D2026.03 | 23.5 | — | — | 58 | 58.3 | — | — | 84.2 | 77.7 | — | — | — | — | |
| SPDSetting=RGB-D2026.03 | 21.4 | — | — | 54.1 | — | — | — | 83.4 | 77.3 | 53.2 | 19.3 | 4 | — | |
| SPDShape Priors=true, Method Category=Correspondence-based2026.06 | 21.4 | — | 27 | 54.1 | — | — | — | — | — | — | 19.3 | — | 43.2 | |
| SSC-6DSetting=RGB-D2026.03 | 19.6 | — | — | 54.5 | 64.4 | — | — | 83.2 | 73 | — | — | — | — | |
| NOCSModality=RGB-D2025.08 | 10 | 78 | 30.1 | 25.2 | — | — | — | — | — | — | — | — | — | |
| NOCSSetting=RGB-D2026.03 | 10 | — | — | 25.2 | 26.7 | — | — | 84.9 | 80.5 | 30.1 | 7.2 | 5 | — | |
| YOPOModality=RGB2025.08 | 5.9 | 79.6 | 19.6 | 26.7 | 54.1 | — | — | — | — | — | — | — | — | |
| MonoDiff9DModality=RGB2025.08 | 4.4 | 31.5 | 6.3 | 9.6 | 25.7 | — | — | — | — | — | — | — | — | |
| CenterSnap-RGB2025.08 | — | 31.5 | — | — | 30.1 | — | — | — | — | — | — | — | — | |
| DA-Pose2025.08 | — | 28.1 | 3.6 | — | 13.4 | 45.8 | 27.5 | — | — | — | — | — | — | |
| DMSR2025.08 | — | 28.3 | 6.1 | — | 23.6 | 37.3 | 59.5 | — | — | — | — | — | — | |
| FAP-Net2025.08 | — | 36.8 | 5.2 | — | 24.5 | 49.7 | 49.6 | — | — | — | — | — | — | |
| GIVEPoseModality=RGB2025.08 | — | 20.1 | — | — | 34.2 | — | — | — | — | — | — | — | — | |
| GIVEPose2025.08 | — | 20.1 | — | — | 34.2 | 45.9 | — | — | — | — | — | — | — | |
| LaPose2025.08 | — | 17.5 | 2.6 | — | 30.5 | 44.4 | — | — | — | — | — | — | — | |
| MonoDiff9D2025.08 | — | 31.5 | 6.3 | — | 25.7 | 41 | 56.3 | — | — | — | — | — | — | |
| MSOS2025.08 | — | 23.4 | 3 | — | 9.6 | 39.5 | 29.2 | — | — | — | — | — | — | |
| OLD-Net2025.08 | — | 25.4 | 1.9 | — | 9.8 | 38.9 | 37 | — | — | — | — | — | — | |
| Synthesis2025.08 | — | — | — | — | 4.8 | 34 | 14.2 | — | — | — | — | — | — | |
| YOPO R50Backbone=ResNet-502025.08 | — | 67.1 | 16.6 | — | 40.7 | 75.6 | 54 | — | — | — | — | — | — | |
| YOPO Swin-LBackbone=Swin-L2025.08 | — | 71.6 | 16.4 | — | 52.8 | 77.8 | 69.6 | — | — | — | — | — | — | |
| YOPO Swin-L*Backbone=Swin-L, Real Fine-Tuning (RFT)=true2025.08 | — | 79.6 | 19.6 | — | 54.1 | 84.4 | 66 | — | — | — | — | — | — |