Category-level absolute pose estimation on HouseCat6D (test)
3.3Angular/Distance Error (5°/2cm)FS-Net
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| FS-NetPrior=false2026.07 | 3.3 | — | 17.1 | 21.6 | 48 | 14.8 | |
| GPV-PosePrior=false2026.07 | 3.5 | — | 17.8 | 22.7 | 50.7 | 15.2 | |
| DPDNCategory=true, Shape=true, Calibration=true2026.03 | 6.4 | 6.9 | 22.2 | 25.8 | 56.2 | 26 | |
| VI-NetCategory=true, Calibration=true2026.03 | 8.4 | 10.3 | 20.5 | 29.1 | 56.4 | 20.4 | |
| VI-NetPrior=false2026.07 | 8.4 | — | 20.5 | 29.1 | 56.4 | 20.4 | |
| PRD-PosePrior=false2026.07 | 8.9 | — | 26.2 | — | — | — | |
| SecondPoseCategory=true, Shape=true, Calibration=true2026.03 | 11 | 13.4 | 25.3 | 35.7 | 66.1 | 24.9 | |
| SecondPosePrior=false2026.07 | 11 | — | 25.3 | 35.7 | 66.1 | 24.9 | |
| AG-PoseCategory=true, Shape=true, Calibration=true2026.03 | 11.5 | 12 | 32.7 | 35.8 | 66 | 45 | |
| Sphere-PoseCategory=true, Calibration=true2026.03 | 19.3 | 25.9 | 40.9 | 55.3 | 72.2 | — | |
| SpherePosePrior=false2026.07 | 19.3 | — | 40.9 | 55.3 | 72.2 | — | |
| AG-PosePrior=false2026.07 | 21.3 | — | 51.3 | 54.3 | 76.9 | 53 | |
| GCE-PosePrior=true2026.07 | 22.2 | — | 49.3 | 53.5 | 76.1 | 55.6 | |
| MemPosePrior=false2026.07 | 23.1 | — | 52.6 | 57.3 | 81.5 | 56.4 | |
| Spot-PoseCategory=true, Calibration=true2026.03 | 23.8 | 24.5 | 52.3 | 54.8 | 77 | — | |
| GCE-PoseCategory=true, Shape=true, Semantic=true, Calibration=true2026.03 | 24.8 | 25.7 | 55.4 | 58.4 | 79.2 | 60.6 | |
| OPT-Pose (S=1)MV=true, S=12026.03 | 28 | 31.9 | 53 | 60.3 | 78.1 | 40.7 | |
| OPT-Pose (Kgt, S=1)Calibration=true, MV=true, S=12026.03 | 29.3 | 32.1 | 55.1 | 60.4 | 79 | 52.2 | |
| OPT-Pose (Kgt, S=2)Calibration=true, MV=true, S=22026.03 | 34.1 | 37 | 55.8 | 61.2 | 79.6 | 54.3 | |
| OPT-Pose (Kgt, S=3)Calibration=true, MV=true, S=32026.03 | 36.1 | 38.9 | 56.1 | 61.7 | 79.7 | 54.8 | |
| OPT-Pose (Kgt, S=4)Calibration=true, MV=true, S=42026.03 | 36.9 | 39.7 | 56.4 | 62.1 | 79.6 | 54.9 | |
| KeyPosePrior=false2026.07 | — | — | — | — | 75.4 | — |