Drone 3D Pose Estimation on 6DroneSyn Scene #06
9.91Rotation MAE (°)DroneKey++
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| DroneKey++Architecture Paradigm=End-to-end, Drone Model=Mini32026.02 | 9.91 | 8.58 | 0.121 | 0.224 | |
| DroneKeyArchitecture Paradigm=Multi-stage, Drone Model=Air32026.02 | 11.51 | 1.84 | 1.005 | 1.002 | |
| DroneKey++Architecture Paradigm=End-to-end, Drone Model=Mav32026.02 | 12.09 | 11.76 | 0.114 | 0.219 | |
| DroneKey++Architecture Paradigm=End-to-end, Drone Model=Tello2026.02 | 14.42 | 14.01 | 0.075 | 0.158 | |
| DroneKeyArchitecture Paradigm=Multi-stage, Drone Model=Mini22026.02 | 14.61 | 14.06 | 1.094 | 0.83 | |
| DroneKey++Architecture Paradigm=End-to-end, Drone Model=Air22026.02 | 18.27 | 16.82 | 0.1 | 0.181 | |
| DroneKey++Architecture Paradigm=End-to-end, Drone Model=Mav22026.02 | 19.36 | 17.2 | 0.14 | 0.248 | |
| DroneKey++Architecture Paradigm=End-to-end, Drone Model=Air32026.02 | 19.74 | 18.68 | 0.067 | 0.129 | |
| DroneKey++Architecture Paradigm=End-to-end, Drone Model=Mini22026.02 | 19.91 | 20.38 | 0.142 | 0.175 | |
| DroneKeyArchitecture Paradigm=Multi-stage, Drone Model=Mav22026.02 | 22.25 | 20.61 | 0.462 | 0.235 | |
| DronePoseArchitecture Paradigm=End-to-end, Drone Model=Mini22026.02 | 23.67 | 8.4 | 0.161 | 0.322 | |
| DroneKeyArchitecture Paradigm=Multi-stage, Drone Model=Air22026.02 | 24.78 | 24.35 | 0.211 | 0.032 | |
| DroneKeyArchitecture Paradigm=Multi-stage, Drone Model=Mav32026.02 | 31.85 | 33.48 | 0.208 | 0.187 | |
| DroneKeyArchitecture Paradigm=Multi-stage, Drone Model=Tello2026.02 | 32.13 | 30.7 | 0.056 | 0.056 | |
| DroneKeyArchitecture Paradigm=Multi-stage, Drone Model=Mini32026.02 | 33.84 | 31.96 | 0.668 | 0.656 | |
| DronePoseArchitecture Paradigm=End-to-end, Drone Model=Air22026.02 | 45.49 | 32.47 | 0.122 | 0.219 | |
| Keypoint Detector + PnPArchitecture Paradigm=Multi-stage, Drone Model=Tello2026.02 | 69.52 | 65.03 | 0.203 | 0.06 | |
| Keypoint Detector + PnPArchitecture Paradigm=Multi-stage, Drone Model=Mini22026.02 | 69.89 | 84.75 | 0.295 | 0.088 | |
| Keypoint Detector + PnPArchitecture Paradigm=Multi-stage, Drone Model=Mav22026.02 | 78.51 | 76.33 | 0.45 | 0.123 | |
| DronePoseArchitecture Paradigm=End-to-end, Drone Model=Mini32026.02 | 80.33 | 81.56 | 0.148 | 0.28 | |
| DronePoseArchitecture Paradigm=End-to-end, Drone Model=Mav22026.02 | 86.16 | 100.1 | 0.176 | 0.289 | |
| DronePoseArchitecture Paradigm=End-to-end, Drone Model=Tello2026.02 | 88.17 | 103.3 | 0.163 | 0.301 | |
| Keypoint Detector + PnPArchitecture Paradigm=Multi-stage, Drone Model=Air32026.02 | 90.28 | 90.26 | 0.121 | 0.027 | |
| Keypoint Detector + PnPArchitecture Paradigm=Multi-stage, Drone Model=Air22026.02 | 90.45 | 96.51 | 0.343 | 0.095 | |
| Keypoint Detector + PnPArchitecture Paradigm=Multi-stage, Drone Model=Mini32026.02 | 90.55 | 98.98 | 0.656 | 0.28 | |
| Keypoint Detector + PnPArchitecture Paradigm=Multi-stage, Drone Model=Mav32026.02 | 91.39 | 108.96 | 0.426 | 0.131 | |
| DronePoseArchitecture Paradigm=End-to-end, Drone Model=Mav32026.02 | 113.9 | 135.5 | 0.18 | 0.353 | |
| DronePoseArchitecture Paradigm=End-to-end, Drone Model=Air32026.02 | 135.5 | 148.4 | 0.108 | 0.169 |