# Category-level 6D Pose and Size Estimation on CAMERA25 (test)

Source: [Category-level 6D Pose and Size Estimation on CAMERA25 (test)](<https://www.sota2.com/research/sota/category-level-6d-pose-and-size-estimation-on-camera25-test>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T06:09:51.154Z

Evaluation of Category-level 6D Pose and Size Estimation performance on the test split of the CAMERA25 dataset, reporting Mean Average Precision (mAP) across various Intersection over Union (IoU) thresholds and angular/distance error tolerances.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Category-level 6D Pose and Size Estimation |
| Dataset (including any stated split) | CAMERA25 (test) |
| Metric | mAP (IoU75, 5°, 5%) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 3 of 3 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [mAP (IoU75, 5°, 5%)](<https://www.sota2.com/research/sota/category-level-6d-pose-and-size-estimation-on-camera25-test.md?metric=mAP%20(IoU75%2C%205%C2%B0%2C%205%25)>): Higher is better; unit: PERCENT.

- [mAP (IoU75, 10°, 5%)](<https://www.sota2.com/research/sota/category-level-6d-pose-and-size-estimation-on-camera25-test.md?metric=mAP%20(IoU75%2C%2010%C2%B0%2C%205%25)>): Higher is better; unit: PERCENT.

- [mAP (IoU75, 5°, 10%)](<https://www.sota2.com/research/sota/category-level-6d-pose-and-size-estimation-on-camera25-test.md?metric=mAP%20(IoU75%2C%205%C2%B0%2C%2010%25)>): Higher is better; unit: PERCENT.

- [mAP (IoU50, 5°, 20%)](<https://www.sota2.com/research/sota/category-level-6d-pose-and-size-estimation-on-camera25-test.md?metric=mAP%20(IoU50%2C%205%C2%B0%2C%2020%25)>): Higher is better; unit: PERCENT.

- [mAP (IoU50, 10°, 10%)](<https://www.sota2.com/research/sota/category-level-6d-pose-and-size-estimation-on-camera25-test.md?metric=mAP%20(IoU50%2C%2010%C2%B0%2C%2010%25)>): Higher is better; unit: PERCENT.

- [mAP (IoU50, 10°, 20%)](<https://www.sota2.com/research/sota/category-level-6d-pose-and-size-estimation-on-camera25-test.md?metric=mAP%20(IoU50%2C%2010%C2%B0%2C%2020%25)>): Higher is better; unit: PERCENT.

- [mAP (IoU50)](<https://www.sota2.com/research/sota/category-level-6d-pose-and-size-estimation-on-camera25-test.md?metric=mAP%20(IoU50)>): Higher is better; unit: PERCENT.

- [mAP (IoU75)](<https://www.sota2.com/research/sota/category-level-6d-pose-and-size-estimation-on-camera25-test.md?metric=mAP%20(IoU75)>): Higher is better; unit: PERCENT.

- [mAP (5°, 2cm)](<https://www.sota2.com/research/sota/category-level-6d-pose-and-size-estimation-on-camera25-test.md?metric=mAP%20(5%C2%B0%2C%202cm)>): Higher is better; unit: PERCENT.

- [mAP (5°, 5cm)](<https://www.sota2.com/research/sota/category-level-6d-pose-and-size-estimation-on-camera25-test.md?metric=mAP%20(5%C2%B0%2C%205cm)>): Higher is better; unit: PERCENT.

- [mAP (10°, 2cm)](<https://www.sota2.com/research/sota/category-level-6d-pose-and-size-estimation-on-camera25-test.md?metric=mAP%20(10%C2%B0%2C%202cm)>): Higher is better; unit: PERCENT.

- [mAP (10°, 5cm)](<https://www.sota2.com/research/sota/category-level-6d-pose-and-size-estimation-on-camera25-test.md?metric=mAP%20(10%C2%B0%2C%205cm)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | mAP (IoU75, 5°, 5%) | Result date | Report paper |
| --- | --- | --- | --- |
| DualPoseNet | 56.2 | Not recorded | 68fa6a931e209131cea2902e |
| SPD | 47.5 | Not recorded | 68fa6a931e209131cea2902e |
| NOCS | 22.8 | Not recorded | 68fa6a931e209131cea2902e |

### DualPoseNet

mAP (IoU75, 5°, 5%): 56.2. Result ID: 699ac0775698665ec44ea2e8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6a931e209131cea2902e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a931e209131cea2902e.md>)

[Implementation](<https://github.com/Gorilla-Lab-SCUT/DualPoseNet>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### SPD

mAP (IoU75, 5°, 5%): 47.5. Result ID: 699ac0775698665ec44ea2e7.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6a931e209131cea2902e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67f61e209131cea1976b.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### NOCS

mAP (IoU75, 5°, 5%): 22.8. Result ID: 699ac0775698665ec44ea2e6.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6a931e209131cea2902e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65f71e209131cea0d894.md>)

[Implementation](<https://hughw19.github.io/NOCS_CVPR2019>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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