Object Pose Estimation on LINEMOD (test)
97.2APEours IL
Evaluation results
| Method | Links | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ours ILModality=depth, Initialization=PoseCNN, Method=Imitation Learning2021.03 | 97.2 | — | 99 | 99.6 | 99.8 | 98.8 | 96.9 | 99.8 | 99.2 | 98.4 | 97.9 | 99.8 | 97.7 | 98.7 | 99.6 | |
| ours IL+RLModality=depth, Initialization=PoseCNN, Method=Imitation Learning + Reinforcement Learning2021.03 | 96.9 | — | 99.3 | 99.5 | 99.7 | 99 | 96.6 | 99.9 | 99.4 | 98.6 | 97.5 | 99.7 | 97.8 | 98.7 | 99.6 | |
| BPnPLoss function=lm, Pixel threshold (ψ)=22019.09 | 93.75 | 86 | 90.5 | 92.75 | 96.75 | 84.5 | 91.5 | 92.5 | 94 | 91.75 | 87.25 | 86.75 | 92.25 | 90.79 | — | |
| DenseFusion ref.Modality=RGBD, Initialization=DenseFusion, Refinement=Yes2021.03 | 92.3 | — | 94.4 | 93.1 | 96.5 | 87 | 92.3 | 99.8 | 100 | 92.1 | 97 | 95.3 | 92.8 | 94.3 | 93.2 | |
| BPnPLoss function=ln, Pixel threshold (ψ)=22019.09 | 90 | 86 | 91.5 | 93.25 | 96.75 | 83.75 | 88.5 | 92.75 | 93.5 | 92.25 | 86.75 | 85 | 91.5 | 90.12 | — | |
| DPOD ref.Modality=RGB, Initialization=DPOD, Refinement=Yes2021.03 | 87.7 | — | 96.1 | 99.7 | 94.7 | 98.8 | 86.3 | 99.9 | 96.8 | 86.9 | 100 | 96.8 | 94.7 | 95.1 | 98.5 | |
| BPnPLoss function=lp, Pixel threshold (ψ)=22019.09 | 86.75 | 82.75 | 81.5 | 89 | 95.25 | 81.5 | 84 | 93.25 | 90 | 90.25 | 79.75 | 83.25 | 88 | 86.56 | — | |
| DenseFusionModality=RGBD, Initialization=DenseFusion, Refinement=No2021.03 | 79.5 | — | 76.5 | 86.6 | 88.8 | 77.7 | 76.3 | 99.9 | 99.4 | 79 | 92.1 | 92.3 | 88 | 86.2 | 84.2 | |
| ICP-basedModality=depth, Initialization=PoseCNN2021.03 | 79.1 | — | 93.5 | 98.7 | 96 | 84.2 | 84.1 | 98.4 | 99.1 | 97.2 | 90.6 | 94 | 85.8 | 92.1 | 97.9 | |
| DeepIMModality=RGB, Initialization=DPOD2021.03 | 78.7 | — | 97.8 | 97.6 | 85.2 | 91.6 | 80.2 | 99.7 | 99.5 | 75.7 | 99.7 | 98.2 | 91.4 | 91.8 | 98.4 | |
| DeepIMModality=RGB, Initialization=PoseCNN2021.03 | 77 | — | 93.5 | 96.5 | 82.1 | 95 | 77.7 | 97.1 | 99.4 | 52.8 | 98.3 | 97.5 | 87.7 | 88.6 | 97.5 | |
| BPnPLoss function=lm2019.09 | 74.75 | 99 | 96.25 | 98 | 94.25 | 99.25 | 78.5 | 96.5 | 90 | 91.5 | 97.75 | 99.75 | 97 | 93.27 | — | |
| BPnPLoss function=ln2019.09 | 74 | 98.5 | 96.25 | 97 | 93 | 98.5 | 76.25 | 95.75 | 87.5 | 89.5 | 97.75 | 99.75 | 95.75 | 92.27 | — | |
| PFRLModality=RGB, Initialization=PoseCNN2021.03 | 60.5 | — | 64.6 | 91.3 | 82.9 | 92 | 55.2 | 99.4 | 93.3 | 66.7 | 75.8 | 96.6 | 69.1 | 79.7 | 88.9 | |
| BPnPLoss function=lp2019.09 | 56.75 | 98 | 83.75 | 94.75 | 85.25 | 98 | 49.25 | 93.25 | 76.25 | 80.25 | 96.5 | 98.5 | 96 | 85.12 | — | |
| DPODModality=RGB, Initialization=DPOD, Refinement=No2021.03 | 53.3 | — | 90.4 | 94.1 | 60.4 | 97.7 | 66 | 99.7 | 93.8 | 65.8 | 99.8 | 88.1 | 74.2 | 83 | 95.3 | |
| PVNet2019.09 | 43.62 | 99.9 | 86.86 | 95.47 | 79.34 | 96.43 | 52.58 | 99.15 | 95.66 | 81.92 | 98.88 | 99.33 | 92.41 | 86.27 | — | |
| PoseCNNModality=RGB, Initialization=PoseCNN2021.03 | 27.8 | — | 47.5 | 71.4 | 56.7 | 65.4 | 42.8 | 98.3 | 95.6 | 50.9 | 65.6 | 70.3 | 54.6 | 62.8 | 68.9 |