Category-level 6D Object Pose Estimation on REAL275
88.7mAP (10°5cm)TSM-Pose
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| TSM-PoseVenue/Source=–, Shape Prior=✗2026.04 | 88.7 | 62.4 | 68.5 | 81.5 | 63.1 | — | — | — | — | — | — | — | — | |
| SpherePoseVenue/Source=ICLR’25, Shape Prior=✗2026.04 | 88.2 | 58.2 | 67.4 | 76.2 | — | — | — | — | — | — | — | — | — | |
| KeyPoseVenue/Source=AAAI’25, Shape Prior=✗2026.04 | 88 | 57.7 | 66 | 78.8 | — | — | — | — | — | — | — | — | — | |
| DecomPose2026.05 | 87.5 | 61.2 | 67.9 | 79.2 | 81.1 | — | — | — | — | — | — | — | 84.1 | |
| RFM-PoseData=D, Category-level shape priors=false, Sampling steps (H)=20, Parameters (M)=4.42026.02 | 86.3 | 58.4 | 65.6 | 76.2 | — | — | — | — | — | — | — | — | — | |
| GCE-PoseVenue/Source=CVPR’25, Shape Prior=✓2026.04 | 86.3 | 57 | 65.1 | 75.6 | — | — | — | — | — | — | — | — | — | |
| CleanPoseVenue/Source=ICCV’25, Shape Prior=✗2026.04 | 86.3 | 61.7 | 67.6 | 78.3 | 62.7 | — | — | — | — | — | — | — | — | |
| GCE-PoseSource=CVPR’252026.05 | 86.3 | 57 | 65.1 | 75.6 | 79.8 | — | — | — | — | — | — | — | 84.1 | |
| CleanPoseSource=ICCV’252026.05 | 86.3 | 61.7 | 67.6 | 78.3 | — | — | — | — | — | — | — | — | — | |
| RFM-PoseData=D, Category-level shape priors=false, Sampling steps (H)=10, Parameters (M)=4.42026.02 | 86.2 | 57.7 | 65.2 | 75.6 | — | — | — | — | — | — | — | — | — | |
| RFM-PoseData=D, Category-level shape priors=false, Sampling steps (H)=5, Parameters (M)=4.42026.02 | 86.1 | 57.1 | 64.9 | 75 | — | — | — | — | — | — | — | — | — | |
| Flow6DMethod Type=Probabilistic, Data=D, Prior=false, Inference Time (s)=0.0112026.06 | 86.1 | 55.2 | 64.5 | 76.3 | — | — | — | — | — | — | — | — | — | |
| SecondPoseSource=CVPR’242026.05 | 86 | 56.2 | 63.6 | 74.7 | — | — | — | — | — | — | — | — | — | |
| CLIPoseVenue/Source=TCSVT’24, Shape Prior=✗2026.04 | 85.1 | 48.5 | 58.2 | 70.3 | — | — | — | — | — | — | — | — | — | |
| AG-PoseVenue/Source=CVPR’24, Shape Prior=✗2026.04 | 84.7 | 57 | 64.6 | 75.1 | 61.3 | — | — | — | — | — | — | — | — | |
| AG-PoseSource=CVPR’242026.05 | 84.7 | 57 | 64.6 | 75.1 | 80.1 | — | — | — | — | — | — | — | 84.1 | |
| MK-PoseVenue/Source=IROS’25, Shape Prior=✗2026.04 | 84.6 | 60.8 | — | 78 | — | — | — | — | — | — | — | — | — | |
| MK-PoseSource=IROS’252026.05 | 84.6 | 60.8 | — | 78 | 80.3 | — | — | — | — | — | — | — | 84 | |
| SpotPoseVenue/Source=CVPR’24, Shape Prior=✗2026.04 | 84.2 | 59.7 | 68.3 | 76.5 | — | — | — | — | — | — | — | — | — | |
| GenPoseData=D, Category-level shape priors=false, Sampling steps (H)=500, Parameters (M)=4.42026.02 | 84 | 52.1 | 60.9 | 72.4 | — | — | — | — | — | — | — | — | — | |
| GenposeMethod Type=Probabilistic, Data=D, Prior=false, Inference Time (s)=0.0582026.06 | 84 | 52.1 | 60.9 | 72.4 | — | — | — | — | — | — | — | — | — | |
| Tu et al.Method Type=Deterministic, Data=D, Prior=true2026.06 | 82.5 | 50.3 | 59.5 | 69.7 | — | — | — | — | — | — | — | — | — | |
| MH6DVenue/Source=TNNLS’24, Shape Prior=✓2026.04 | 82 | 53 | 61.1 | 72 | 54.2 | — | — | — | — | — | — | — | — | |
| CatFormerVenue/Source=AAAI’24, Shape Prior=✗2026.04 | 79.5 | 47.7 | 53.7 | 69 | — | — | — | — | — | — | — | — | — | |
| GeoRefVenue/Source=TNNLS’24, Shape Prior=✓2026.04 | 79.4 | 54.4 | 60.3 | 71.9 | 51.8 | — | — | — | — | — | — | — | — | |
| RBP-PoseData=D, Category-level shape priors=true2026.02 | 79.2 | 38.2 | 48.1 | 63.1 | — | — | — | — | — | — | — | — | — | |
| RBP-PoseMethod Type=Deterministic, Data=D, Prior=true, Inference Time (s)=0.0402026.06 | 79.2 | 38.2 | 48.1 | 63.1 | — | — | — | — | — | — | — | — | — | |
| DPDNData=RGB-D, Category-level shape priors=true2026.02 | 78.4 | 46 | 50.7 | 70.4 | — | — | — | — | — | — | — | — | — | |
| DPDNMethod Type=Deterministic, Data=RGB-D, Prior=true2026.06 | 78.4 | 46 | 50.7 | 70.4 | — | — | — | — | — | — | — | — | — | |
| SSP-PoseData=D, Category-level shape priors=true2026.02 | 77.8 | 34.7 | 44.6 | — | — | — | — | — | — | — | — | — | — | |
| GPV-PoseMethod Type=Deterministic, Data=D, Prior=false, Inference Time (s)=0.0502026.06 | 74.2 | 36.2 | 41.1 | — | — | — | — | — | — | — | — | — | — | |
| Nie et al.Method Type=Deterministic, Data=D, Prior=true2026.06 | 74.2 | 36.2 | 41.1 | — | — | — | — | — | — | — | — | — | — | |
| GPV-PoseData=D, Category-level shape priors=false2026.02 | 73.3 | 32 | 42.9 | 55 | — | — | — | — | — | — | — | — | — | |
| SGPAData=RGB-D, Category-level shape priors=true2026.02 | 70.7 | 35.9 | 39.6 | 61.3 | — | — | — | — | — | — | — | — | — | |
| SGPAMethod Type=Deterministic, Data=RGB-D, Prior=true2026.06 | 70.7 | 35.9 | 39.6 | 61.3 | — | — | — | — | — | — | — | — | — | |
| FS-NetData=D, Category-level shape priors=false, Parameters (M)=41.22026.02 | 69.1 | 19.9 | 33.9 | — | — | — | — | — | — | — | — | — | — | |
| SAR-NetData=D, Category-level shape priors=true, Parameters (M)=6.32026.02 | 68.3 | 31.6 | 42.3 | 50.4 | — | — | — | — | — | — | — | — | — | |
| DualPoseNetData=RGB-D, Category-level shape priors=false, Parameters (M)=67.92026.02 | 66.8 | 29.3 | 35.9 | 50 | — | — | — | — | — | — | — | — | — | |
| CR-NetData=RGB-D, Category-level shape priors=true2026.02 | 60.8 | 27.8 | 34.3 | 47.2 | — | — | — | — | — | — | — | — | — | |
| CASSData=RGB-D, Category-level shape priors=false, Parameters (M)=47.22026.02 | 58 | 19.5 | 23.5 | 50.8 | — | — | — | — | — | — | — | — | — | |
| SPDData=RGB-D, Category-level shape priors=true, Parameters (M)=18.32026.02 | 54.1 | 19.3 | 21.4 | 43.2 | — | — | — | — | — | — | — | — | — | |
| NOCSData=RGB-D, Category-level shape priors=false2026.02 | 26.7 | — | 9.5 | 13.8 | — | — | — | — | — | — | — | — | — | |
| NOCSMethod Type=Deterministic, Data=RGB-D, Prior=false2026.06 | 26.7 | — | 9.5 | 13.8 | — | — | — | — | — | — | — | — | — | |
| DMSRModality=RGB, Scale=scale-agnostic2026.03 | — | — | — | — | 9.5 | 15.1 | 23.7 | 25.6 | 45.2 | 35 | 27.4 | 52 | — | |
| GIVE-PoseModality=RGB, Scale=scale-agnostic2026.03 | — | — | — | — | 20.8 | — | — | 44.6 | 64.8 | 46.9 | — | 67.8 | — | |
| i2c-netMethod Type=Deterministic, Data=RGB-D, Prior=false, Inference Time (s)=0.0682026.06 | — | — | 24.62 | — | — | — | — | — | — | — | — | — | — | |
| LaPoseModality=RGB, Scale=scale-agnostic2026.03 | — | — | — | — | 15.8 | 15.7 | 21.3 | 37.4 | 57.4 | 46.9 | 23.4 | 60.7 | — | |
| MSOSModality=RGB, Scale=scale-agnostic2026.03 | — | — | — | — | 0.7 | — | — | 3.3 | 15.3 | 10.6 | — | 17 | — | |
| OLD-NetModality=RGB, Scale=scale-agnostic2026.03 | — | — | — | — | 0.4 | 0.9 | 3 | 5 | 16 | 12.4 | 4.2 | 20.9 | — | |
| OPT-PoseModality=RGB, Scale=scale-agnostic2026.03 | — | — | — | — | 11.1 | 24.3 | 52.2 | 44.1 | 82.3 | 56.4 | 52.3 | 82.5 | — | |
| UniDetModality=RGB, Scale=scale-agnostic2026.03 | — | — | — | — | 19.2 | 25.1 | 31.8 | 43.7 | 66.1 | 53.5 | 32.1 | 68.8 | — |