Category-level 6D Object Pose Estimation on CAMERA
81.4mAP (5°2cm)RFM-Pose
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| RFM-PoseData=D, Category-level shape priors=false, Sampling steps (H)=20, Parameters (M)=4.42026.02 | 81.4 | 85.1 | 86.2 | 90.2 | |
| RFM-PoseData=D, Category-level shape priors=false, Sampling steps (H)=10, Parameters (M)=4.42026.02 | 81.2 | 84.8 | 86.1 | 89.9 | |
| RFM-PoseData=D, Category-level shape priors=false, Sampling steps (H)=5, Parameters (M)=4.42026.02 | 81.1 | 84.5 | 85.7 | 89.7 | |
| GenPoseData=D, Category-level shape priors=false, Sampling steps (H)=500, Parameters (M)=4.42026.02 | 79.9 | 84.4 | 84.6 | 89.6 | |
| RBP-PoseData=D, Category-level shape priors=true2026.02 | 73.5 | 79.6 | 82.1 | 89.5 | |
| GPV-PoseData=D, Category-level shape priors=false2026.02 | 72.1 | 79.1 | — | 89 | |
| CR-NetData=RGB-D, Category-level shape priors=true2026.02 | 72 | 76.4 | 81 | 87.7 | |
| SGPAData=RGB-D, Category-level shape priors=true2026.02 | 70.7 | 74.5 | 82.7 | 88.4 | |
| SAR-NetData=D, Category-level shape priors=true, Parameters (M)=6.32026.02 | 66.7 | 70.9 | 75.3 | 80.3 | |
| DualPoseNetData=RGB-D, Category-level shape priors=false, Parameters (M)=67.92026.02 | 64.7 | 70.7 | 77.2 | 84.7 | |
| SSP-PoseData=D, Category-level shape priors=true2026.02 | 64.7 | 75.5 | — | 87.4 | |
| SPDData=RGB-D, Category-level shape priors=true, Parameters (M)=18.32026.02 | 54.3 | 59 | 73.3 | 81.5 | |
| NOCSData=RGB-D, Category-level shape priors=false2026.02 | 32.3 | 40.9 | 48.2 | 64.6 |