# Category-level Object Pose and Size Estimation on REAL275

Source: [Category-level Object Pose and Size Estimation on REAL275](<https://www.sota2.com/research/sota/category-level-object-pose-and-size-estimation-on-real275>)

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

Data updated: 2026-02-26T05:47:30.273Z

Evaluation of Category-level Object Pose and Size Estimation performance on the REAL275 dataset, utilizing metrics such as IoU thresholds (IoU25, IoU50, IoU75) and combined angular/distance error thresholds (e.g., 5°2cm, 10°10cm).

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 Object Pose and Size Estimation |
| Dataset (including any stated split) | REAL275 |
| Metric | IoU@25 |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 8 of 8 |
| 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

- [IoU@25](<https://www.sota2.com/research/sota/category-level-object-pose-and-size-estimation-on-real275.md?metric=IoU%4025>): Higher is better; unit: PERCENT.

- [IoU@50](<https://www.sota2.com/research/sota/category-level-object-pose-and-size-estimation-on-real275.md?metric=IoU%4050>): Higher is better; unit: PERCENT.

- [IoU@75](<https://www.sota2.com/research/sota/category-level-object-pose-and-size-estimation-on-real275.md?metric=IoU%4075>): Higher is better; unit: PERCENT.

- [Acc (5° 2cm)](<https://www.sota2.com/research/sota/category-level-object-pose-and-size-estimation-on-real275.md?metric=Acc%20(5%C2%B0%202cm)>): Higher is better; unit: PERCENT.

- [Acc (5° 5cm)](<https://www.sota2.com/research/sota/category-level-object-pose-and-size-estimation-on-real275.md?metric=Acc%20(5%C2%B0%205cm)>): Higher is better; unit: PERCENT.

- [Acc (10° 2cm)](<https://www.sota2.com/research/sota/category-level-object-pose-and-size-estimation-on-real275.md?metric=Acc%20(10%C2%B0%202cm)>): Higher is better; unit: PERCENT.

- [Acc (10° 5cm)](<https://www.sota2.com/research/sota/category-level-object-pose-and-size-estimation-on-real275.md?metric=Acc%20(10%C2%B0%205cm)>): Higher is better; unit: PERCENT.

- [Acc (10° 10cm)](<https://www.sota2.com/research/sota/category-level-object-pose-and-size-estimation-on-real275.md?metric=Acc%20(10%C2%B0%2010cm)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | IoU@25 | Result date | Report paper |
| --- | --- | --- | --- |
| D0: Neighbor number: 20 | 84.3 | Not recorded | 68fa6ee01e209131cea42923 |
| GPV-Pose (baseline) | 84.2 | Not recorded | 68fa6ee01e209131cea42923 |
| A0 + STE | 84.2 | Not recorded | 68fa6ee01e209131cea42923 |
| A0 + RF-F | 84.2 | Not recorded | 68fa6ee01e209131cea42923 |
| A0 + STE + RF-F + Max Pool | 84.2 | Not recorded | 68fa6ee01e209131cea42923 |
| A0 + STL + RF-F + ORL (Full) | 84.2 | Not recorded | 68fa6ee01e209131cea42923 |
| A0 + STE + RF-F | 84.1 | Not recorded | 68fa6ee01e209131cea42923 |
| A0 + STE + RF-F + Average Pool | 84.1 | Not recorded | 68fa6ee01e209131cea42923 |

### D0: Neighbor number: 20

IoU@25: 84.3. Result ID: 699065bc3a6c314849004138.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Implementation](<https://github.com/Lynne-Zheng-Linfang/HS-Pose>)

Recorded evaluation configuration: {"Number of neighbors":20,"Speed(FPS)":38}. This record does not assert independent reproduction.

### GPV-Pose (baseline)

IoU@25: 84.2. Result ID: 699065bc3a6c314849004131.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c0c1e209131cea31a99.md>)

[Implementation](<https://github.com/lolrudy/GPV_Pose>)

Recorded evaluation configuration: {"Speed(FPS)":69}. This record does not assert independent reproduction.

### A0 + STE

IoU@25: 84.2. Result ID: 699065bc3a6c314849004132.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Implementation](<https://github.com/Lynne-Zheng-Linfang/HS-Pose>)

Recorded evaluation configuration: {"Speed(FPS)":66}. This record does not assert independent reproduction.

### A0 + RF-F

IoU@25: 84.2. Result ID: 699065bc3a6c314849004133.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Implementation](<https://github.com/Lynne-Zheng-Linfang/HS-Pose>)

Recorded evaluation configuration: {"Speed(FPS)":65}. This record does not assert independent reproduction.

### A0 + STE + RF-F + Max Pool

IoU@25: 84.2. Result ID: 699065bc3a6c314849004136.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Implementation](<https://github.com/Lynne-Zheng-Linfang/HS-Pose>)

Recorded evaluation configuration: {"Speed(FPS)":62}. This record does not assert independent reproduction.

### A0 + STL + RF-F + ORL (Full)

IoU@25: 84.2. Result ID: 699065bc3a6c314849004137.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Implementation](<https://github.com/Lynne-Zheng-Linfang/HS-Pose>)

Recorded evaluation configuration: {"Speed(FPS)":50}. This record does not assert independent reproduction.

### A0 + STE + RF-F

IoU@25: 84.1. Result ID: 699065bc3a6c314849004134.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Implementation](<https://github.com/Lynne-Zheng-Linfang/HS-Pose>)

Recorded evaluation configuration: {"Speed(FPS)":64}. This record does not assert independent reproduction.

### A0 + STE + RF-F + Average Pool

IoU@25: 84.1. Result ID: 699065bc3a6c314849004135.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee01e209131cea42923.md>)

[Implementation](<https://github.com/Lynne-Zheng-Linfang/HS-Pose>)

Recorded evaluation configuration: {"Speed(FPS)":62}. This record does not assert independent reproduction.

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