Pose Refinement on 9 YCB objects (test)
65.26Contact Accuracy (CA)ICP
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| ICP2026.03 | 65.26 | 3.46 | 43.01 | 28.73 | 28.98 | 28.56 | |
| ICP w/ Checkpointingvariant=Retains intermediate state with minimum differentiable rendering loss2026.03 | 48.31 | 1.3 | 13.77 | 8.71 | 12.03 | 8.54 | |
| Geometrically Plausible Object Pose Refinement2026.03 | 41.73 | 0.62 | 6.69 | 0.76 | 5.45 | 0.59 | |
| Initial PoseDescription=Initial object pose estimation approach explained in Sec. III-A2026.03 | 39.05 | 0.65 | 6.98 | 2.36 | 2.77 | 2.19 | |
| Ground Truth2026.03 | 36.28 | — | — | 0.17 | 0 | 0 |