Drone 3D Pose Estimation on 6DroneSyn Scene #07
4.66Rotation MAE (deg)DroneKey
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| DroneKeyArchitecture Paradigm=Multi-stage, Drone Model=Mini22026.02 | 4.66 | 1.58 | 0.952 | 0.787 | |
| DroneKeyArchitecture Paradigm=Multi-stage, Drone Model=Air22026.02 | 7.35 | 6.4 | 0.017 | 0.017 | |
| DroneKeyArchitecture Paradigm=Multi-stage, Drone Model=Air32026.02 | 8.29 | 8.54 | 0.911 | 0.95 | |
| DroneKey++Architecture Paradigm=End-to-end, Drone Model=Mav32026.02 | 12.49 | 12.38 | 0.187 | 0.391 | |
| DronePoseArchitecture Paradigm=End-to-end, Drone Model=Mini22026.02 | 15.27 | 9.65 | 0.179 | 0.385 | |
| DroneKey++Architecture Paradigm=End-to-end, Drone Model=Air32026.02 | 15.53 | 15.13 | 0.135 | 0.293 | |
| DroneKey++Architecture Paradigm=End-to-end, Drone Model=Mini32026.02 | 16.61 | 16.85 | 0.268 | 0.561 | |
| DroneKey++Architecture Paradigm=End-to-end, Drone Model=Air22026.02 | 17.08 | 16.44 | 0.08 | 0.15 | |
| DroneKey++Architecture Paradigm=End-to-end, Drone Model=Tello2026.02 | 18.32 | 19.73 | 0.083 | 0.171 | |
| DroneKeyArchitecture Paradigm=Multi-stage, Drone Model=Tello2026.02 | 21.49 | 21.17 | 0.577 | 0.048 | |
| DroneKeyArchitecture Paradigm=Multi-stage, Drone Model=Mav22026.02 | 21.95 | 25.15 | 0.168 | 0.112 | |
| DroneKeyArchitecture Paradigm=Multi-stage, Drone Model=Mav32026.02 | 22.29 | 23.2 | 0.648 | 0.221 | |
| DroneKey++Architecture Paradigm=End-to-end, Drone Model=Mini22026.02 | 22.35 | 23.24 | 0.149 | 0.187 | |
| DroneKeyArchitecture Paradigm=Multi-stage, Drone Model=Mini32026.02 | 25.32 | 26.98 | 0.484 | 0.478 | |
| DroneKey++Architecture Paradigm=End-to-end, Drone Model=Mav22026.02 | 26.9 | 27.27 | 0.234 | 0.58 | |
| DronePoseArchitecture Paradigm=End-to-end, Drone Model=Tello2026.02 | 49.45 | 43.17 | 0.236 | 0.536 | |
| Keypoint Detector + PnPArchitecture Paradigm=Multi-stage, Drone Model=Air32026.02 | 60.17 | 87.03 | 0.184 | 0.031 | |
| Keypoint Detector + PnPArchitecture Paradigm=Multi-stage, Drone Model=Mini22026.02 | 64.31 | 78.11 | 0.313 | 0.094 | |
| Keypoint Detector + PnPArchitecture Paradigm=Multi-stage, Drone Model=Air22026.02 | 74.37 | 86.94 | 0.448 | 0.12 | |
| Keypoint Detector + PnPArchitecture Paradigm=Multi-stage, Drone Model=Mav32026.02 | 74.44 | 62.46 | 0.71 | 0.128 | |
| Keypoint Detector + PnPArchitecture Paradigm=Multi-stage, Drone Model=Tello2026.02 | 76.92 | 70.06 | 0.199 | 0.056 | |
| DronePoseArchitecture Paradigm=End-to-end, Drone Model=Mini32026.02 | 79.42 | 100.4 | 0.221 | 0.497 | |
| DronePoseArchitecture Paradigm=End-to-end, Drone Model=Mav22026.02 | 82.72 | 69.28 | 0.173 | 0.328 | |
| DronePoseArchitecture Paradigm=End-to-end, Drone Model=Air22026.02 | 85.72 | 88.95 | 0.134 | 0.246 | |
| Keypoint Detector + PnPArchitecture Paradigm=Multi-stage, Drone Model=Mav22026.02 | 90.85 | 96.92 | 0.67 | 0.154 | |
| Keypoint Detector + PnPArchitecture Paradigm=Multi-stage, Drone Model=Mini32026.02 | 99.79 | 106.11 | 0.521 | 0.155 | |
| DronePoseArchitecture Paradigm=End-to-end, Drone Model=Mav32026.02 | 105 | 109.3 | 0.153 | 0.238 | |
| DronePoseArchitecture Paradigm=End-to-end, Drone Model=Air32026.02 | 121.5 | 126 | 0.132 | 0.254 |