Category-level 6D Pose Estimation on REAL275 (test)
84.5Pose Acc (5°/5cm)GenPose
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GenPoseData=D, Prior=false, Parameters(M)=2.2, K=502023.06 | 84.5 | — | — | — | 82 | 95.9 | — | — | 92.8 | — | — | — | — | — | |
| GIVEPoseevaluation_type=scale-agnostic2025.03 | 81.1 | 71.4 | 50.3 | 20.8 | 48.9 | 64.8 | — | — | 44.6 | — | — | 67.8 | — | — | |
| LaPoseevaluation_type=scale-agnostic2025.03 | 78.8 | 70.7 | 47.9 | 15.8 | 46.9 | 57.4 | — | — | 37.4 | — | — | 60.7 | — | — | |
| GenPoseData=D, Prior=false, Parameters(M)=2.2, K=102023.06 | 75.9 | — | — | — | 71.5 | 90.8 | — | — | 85.2 | — | — | — | — | — | |
| MemPosePrior=false2026.07 | 67.7 | — | — | — | 59.9 | — | — | — | 79 | — | — | — | — | 81 | |
| SpherePosePrior=false2026.07 | 67.4 | — | — | — | 58.2 | — | — | — | 76.2 | — | — | — | — | 79 | |
| DMSRevaluation_type=scale-agnostic2025.03 | 67.2 | 57.2 | 38.4 | 9.7 | 35.8 | 44.9 | — | — | 26 | — | — | 36.9 | — | — | |
| KeyPosePrior=false2026.07 | 66 | — | — | — | 57.7 | — | — | — | 78.8 | — | — | — | — | 80.8 | |
| GCE-PosePrior=true2026.07 | 65.1 | — | — | — | 57 | — | — | — | 75.6 | — | — | — | — | 79.8 | |
| AG-PosePrior=false2026.07 | 64.6 | — | — | — | 57 | — | — | — | 75.1 | — | — | — | — | 80.1 | |
| SecondPosePrior=false2026.07 | 63.6 | — | — | — | 56.2 | — | — | — | 74.7 | — | — | — | — | 77.7 | |
| GenPoseData=D, Prior=false, Parameters(M)=4.4, Type=Aggregated2023.06 | 60.9 | — | — | — | 52.1 | 84 | — | — | 72.4 | — | — | — | — | — | |
| VI-NetPrior=false2026.07 | 57.6 | — | — | — | 50 | — | — | — | 70.8 | — | — | — | — | 48.3 | |
| HS-PoseInput Modal=depth only, Speed(FPS)=502023.03 | 55.2 | 84.2 | 82.1 | 74.7 | 46.5 | — | 83.7 | — | 68.6 | — | — | — | — | — | |
| MSOSevaluation_type=scale-agnostic2025.03 | 50.8 | 36.9 | 9.7 | 0.7 | 10.6 | 15.3 | — | — | 3.3 | — | — | 17 | — | — | |
| DPDNData=RGB-D, Prior=true2023.06 | 50.7 | — | — | — | 46 | 78.4 | — | — | 70.4 | — | — | — | — | — | |
| DPDNPrior=true2026.07 | 50.7 | — | — | — | 46 | — | — | — | 70.4 | — | — | — | — | 76 | |
| RBP-PoseInput Modal=depth only, Speed(FPS)=252023.03 | 48.1 | — | — | 67.8 | 38.2 | — | — | — | 63.1 | — | — | — | — | — | |
| RBP-PoseData=D, Prior=true2023.06 | 48.1 | — | — | — | 38.2 | 79.2 | — | — | 63.1 | — | — | — | — | — | |
| RBP-PosePrior=true2026.07 | 48.1 | — | — | — | 38.2 | — | — | — | 63.1 | — | — | — | — | 67.8 | |
| SSP-PoseInput Modal=depth only, Speed(FPS)=252023.03 | 44.6 | 84 | 82.3 | 66.3 | 34.7 | — | 79.7 | — | — | — | — | — | — | — | |
| SSP-PoseData=D, Prior=true2023.06 | 44.6 | — | — | — | 34.7 | 77.8 | — | — | — | — | — | — | — | — | |
| Ours(M)P.E. Setting=D2022.03 | 44.2 | 84.1 | 82 | 63.2 | 30.6 | 72.1 | 73.8 | 20 | — | — | — | — | — | — | |
| OLD-Netevaluation_type=scale-agnostic2025.03 | 44 | 31.5 | 6.2 | 0.1 | 9 | 12.2 | — | — | 2.8 | — | — | 14.8 | — | — | |
| OursP.E. Setting=D2022.03 | 42.9 | 84.2 | 83 | 64.4 | 32 | 73.3 | 74.6 | 20 | — | — | — | — | — | — | |
| GPV-PoseInput Modal=depth only, Speed(FPS)=692023.03 | 42.9 | 84.1 | 83 | 64.4 | 32 | — | 74.6 | — | 55 | — | — | — | — | — | |
| GPV-PoseData=D, Prior=false2023.06 | 42.9 | — | — | — | 32 | 73.3 | — | — | 55 | — | — | — | — | — | |
| GPV-PosePrior=false2026.07 | 42.9 | — | — | — | 32 | — | — | — | — | — | — | — | — | 64.4 | |
| SAR-NetInput Modal=depth only, Speed(FPS)=102023.03 | 42.3 | — | 79.3 | 62.4 | 31.6 | — | — | — | 50.3 | — | — | — | — | — | |
| SAR-NetData=D, Prior=true, Parameters(M)=6.32023.06 | 42.3 | — | — | — | 31.6 | 68.3 | — | — | 50.4 | — | — | — | — | — | |
| SGPAP.E. Setting=RGB-D2022.03 | 39.6 | — | 80.1 | 61.9 | 35.9 | 70.7 | — | — | — | — | — | — | — | — | |
| SGPAInput=RGB-D, Syn=true, Real w/ Label=true, Real w/o Label=false2021.11 | 39.6 | — | 80.1 | 61.9 | 35.9 | 70.7 | — | — | 61.3 | — | — | — | — | — | |
| SGPAData=RGB-D, Prior=true2023.06 | 39.6 | — | — | — | 35.9 | 70.7 | — | — | 61.3 | — | — | — | — | — | |
| SGPAPrior=true2026.07 | 39.6 | — | — | — | 35.9 | — | — | — | 61.3 | — | — | — | — | 61.9 | |
| DualPoseNetP.E. Setting=RGB-D2022.03 | 35.9 | — | 79.8 | 62.2 | 29.3 | 66.8 | — | 2 | — | — | — | — | — | — | |
| DualPoseNetInput=RGB-D, Syn=true, Real w/ Label=true, Real w/o Label=false2021.11 | 35.9 | — | 79.8 | 62.2 | 29.3 | 66.8 | — | — | 50 | — | — | — | — | — | |
| DualPoseNetData=RGB-D, Prior=false, Parameters(M)=67.92023.06 | 35.9 | — | — | — | 29.3 | 66.8 | — | — | 50 | — | — | — | — | — | |
| DO-NetP.E. Setting=D2022.03 | 34.8 | — | 80.4 | 63.7 | 24.1 | 67.4 | — | 10 | — | — | — | — | — | — | |
| UDA-COPEInput=RGB-D, Syn=true, Real w/ Label=false, Real w/o Label=true2021.11 | 34.8 | — | 82.6 | 62.5 | 30.4 | 66 | — | — | 56.9 | — | — | — | — | — | |
| CR-NetP.E. Setting=RGB-D2022.03 | 34.3 | — | 79.3 | 55.9 | 27.8 | 60.8 | — | — | — | — | — | — | — | — | |
| CR-NetInput=RGB-D, Syn=true, Real w/ Label=true, Real w/o Label=false2021.11 | 34.3 | — | 79.3 | 55.9 | 27.8 | 60.8 | — | — | 47.2 | — | — | — | — | — | |
| CR-NetData=RGB-D, Prior=true2023.06 | 34.3 | — | — | — | 27.8 | 60.8 | — | — | 47.2 | — | — | — | — | — | |
| Ours(FS-Net)P.E. Setting=D2022.03 | 33.9 | 84 | 81.1 | 52 | 19.9 | 69.1 | 71 | 20 | — | — | — | — | — | — | |
| FS-NetInput Modal=depth only, Speed(FPS)=202023.03 | 33.9 | 84 | 81.1 | 63.5 | 19.9 | — | 71 | — | — | — | — | — | — | — | |
| FS-NetData=D, Prior=false, Parameters(M)=41.22023.06 | 33.9 | — | — | — | 19.9 | 69.1 | — | — | — | — | — | — | — | — | |
| UDA-COPEInput=D, Syn=true, Real w/ Label=false, Real w/o Label=true2021.11 | 29.1 | — | 79.6 | 57.8 | 21.2 | 65.9 | — | — | 48.7 | — | — | — | — | — | |
| UDA-COPEInput Modal=depth only2023.03 | 29.1 | — | 79.6 | 57.8 | 21.2 | — | — | — | 48.7 | — | — | — | — | — | |
| FS-NetP.E. Setting=D2022.03 | 28.2 | — | — | — | — | 60.8 | 64.6 | 20 | — | — | — | — | — | — | |
| FS-NetPrior=false2026.07 | 28.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UDA-COPEInput=RGB, Syn=true, Real w/ Label=false, Real w/o Label=true2021.11 | 27 | — | 82 | 59 | 24.4 | 54.8 | — | — | 49.3 | — | — | — | — | — | |
| CPS++Input=RGB, Syn=true, Real w/ Label=false, Real w/o Label=false2021.11 | 25.8 | — | 72.6 | — | — | — | — | — | — | — | — | — | — | — | |
| CPS++Input=RGB, Syn=true, Real w/ Label=false, Real w/o Label=true2021.11 | 25.2 | — | 72.8 | — | — | — | — | — | — | — | — | — | — | — | |
| CASSP.E. Setting=RGB-D2022.03 | 23.5 | 84.2 | 77.7 | — | — | 58 | 58.3 | — | — | — | — | — | — | — | |
| CASSInput=RGB-D, Syn=true, Real w/ Label=true, Real w/o Label=false2021.11 | 23.5 | — | 77.7 | — | — | 58 | — | — | — | — | — | — | — | — | |
| CASSData=RGB-D, Prior=false, Parameters(M)=47.22023.06 | 23.5 | — | — | — | 19.5 | 58 | — | — | 50.8 | — | — | — | — | — | |
| SPDInput=RGB-D, Syn=true, Real w/ Label=true, Real w/o Label=false2021.11 | 21.6 | — | 77.4 | 53.5 | 19.5 | 54 | — | — | 43.5 | — | — | — | — | — | |
| SPDP.E. Setting=RGB-D2022.03 | 21.4 | 83.4 | 77.3 | 53.2 | 19.3 | 54.1 | — | 4 | — | — | — | — | — | — | |
| SPDData=RGB-D, Prior=true, Parameters(M)=18.32023.06 | 21.4 | — | — | — | 19.3 | 54.1 | — | — | 43.2 | — | — | — | — | — | |
| SPDInput=RGB, Syn=true, Real w/ Label=true, Real w/o Label=false2021.11 | 18.8 | — | 75.2 | 46.5 | 15.7 | 47.4 | — | — | 33.7 | — | — | — | — | — | |
| SPDInput=RGB-D, Syn=true, Real w/ Label=false, Real w/o Label=false2021.11 | 12 | — | 71 | 43.1 | 11.4 | 37.8 | — | — | 33.5 | — | — | — | — | — | |
| NOCSP.E. Setting=RGB-D2022.03 | 10 | 84.9 | 80.5 | 30.1 | 7.2 | 25.2 | 26.7 | 5 | — | — | — | — | — | — | |
| NOCSInput=RGB, Syn=true, Real w/ Label=true, Real w/o Label=false2021.11 | 10 | — | 78 | 30.1 | 7.2 | 25.2 | — | — | 13.8 | — | — | — | — | — | |
| NOCSData=RGB-D, Prior=false2023.06 | 9.5 | — | — | — | — | 26.7 | — | — | 13.8 | — | — | — | — | — | |
| Metric ScaleInput=RGB, Syn=true, Real w/ Label=false, Real w/o Label=false2021.11 | 5.3 | — | 68.1 | 32.9 | 2.2 | 24.7 | — | — | 10 | — | — | — | — | — | |
| NOCSInput=RGB, Syn=true, Real w/ Label=false, Real w/o Label=false2021.11 | 3.4 | — | 36.7 | 3.4 | — | 20.4 | — | — | — | — | — | — | — | — | |
| DMSR2025.03 | — | 37.4 | 16.3 | — | — | — | 25.2 | — | — | — | — | — | 40 | — | |
| GIVEPose2025.03 | — | 42.9 | 20.1 | — | — | — | 34.2 | — | — | — | — | — | 45.9 | — | |
| LaPose2025.03 | — | 41.2 | 17.5 | — | — | — | 30.5 | — | — | — | — | — | 44.4 | — | |
| MSOS2025.03 | — | 33.2 | 13.6 | — | — | — | 11.8 | — | — | — | — | — | 43.4 | — | |
| OLD-Net2025.03 | — | 26.4 | 7.7 | — | — | — | 8.6 | — | — | — | — | — | 31.4 | — | |
| PRD-PosePrior=false2026.07 | — | — | — | — | 52.6 | — | — | — | 73.4 | — | — | — | — | — |