Category-Level 6D Object Pose Estimation on HouseCat6D
80.6IoU@50ComPose
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| ComPoseData Setting=RGB-D Setting2026.05 | 80.6 | — | 25.8 | 27.6 | 57.8 | 61.5 | 90.3 | |
| CleanPoseSource=ICCV’252026.05 | 79.8 | 53.9 | 22.4 | 24.1 | 51.6 | 56.5 | — | |
| CleanPoseData Setting=RGB-D Setting2026.05 | 79.8 | — | 22.4 | 24.1 | 51.6 | 56.5 | 89.2 | |
| DecomPose2026.05 | 79.4 | 56.3 | 25.4 | 25.9 | 54.2 | 58.9 | — | |
| GCE-PoseSource=CVPR’252026.05 | 79.2 | 60.6 | 24.8 | 25.7 | 55.4 | 58.4 | — | |
| GCE-PoseData Setting=RGB-D Setting2026.05 | 79.2 | — | 24.8 | 25.7 | 55.4 | 58.4 | — | |
| SpotPoseData Setting=RGB-D Setting2026.05 | 77 | — | 23.8 | 24.5 | 52.3 | 54.8 | 89.1 | |
| AG-PoseSource=CVPR’242026.05 | 76.9 | 53 | 21.3 | 22.1 | 51.3 | 54.3 | — | |
| AG-PoseData Setting=RGB-D Setting2026.05 | 76.9 | — | 21.3 | 22.1 | 51.3 | 54.3 | 88.1 | |
| SpherePoseData Setting=RGB-D Setting2026.05 | 72.2 | — | 19.3 | 25.9 | 40.9 | 55.3 | 88.8 | |
| SecondPoseSource=CVPR’242026.05 | 66.1 | — | 11 | 13.4 | 25.3 | 35.7 | — | |
| SecondPoseData Setting=RGB-D Setting2026.05 | 66.1 | — | 11 | 13.4 | 25.3 | 35.7 | 83.7 | |
| ComPoseData Setting=Depth-only Setting2026.05 | 65.1 | — | 11.8 | 12.7 | 34.8 | 38.9 | 81.6 | |
| AG-Pose*Data Setting=Depth-only Setting, reproduced_by_authors=true2026.05 | 59.9 | — | 9.7 | 10.6 | 25.9 | 29.7 | 81.4 | |
| VI-NetData Setting=RGB-D Setting2026.05 | 56.4 | — | 8.4 | 10.3 | 20.5 | 29.1 | 80.7 | |
| GPV-PoseData Setting=Depth-only Setting2026.05 | 50.7 | — | 3.5 | 4.6 | 17.8 | 22.7 | 74.9 | |
| FS-NetData Setting=Depth-only Setting2026.05 | 48 | — | 3.3 | 4.2 | 17.1 | 21.6 | 74.9 |