ResearchBenchmarksScene-level camera pose estimation on CO3D 29 sampled scenes v2Scene-level camera pose estimation on CO3D 29 sampled scenes v2Follow2.2Angular Error (R) @5 degID-Pose1.8764.0636.258.437May 19, 2026Evaluation resultsMethodMethodLinksAngular Error (R) @5 degRotation Error (R) @5 degAngular Error (R) @15 degRotation Error (R) @15 degAngular Error (R) @30 degRotation Error (R) @30 degSuccess Rate (SR) @5 degSuccess Rate (SR) @5 deg (Rotation)Success Rate (SR) @15 degSuccess Rate (SR) @15 deg (Rotation)Success Rate (SR) @30 degSuccess Rate (SR) @30 deg (Rotation)Mean Rotation Error (Degrees)Translation Error (Normalized)ID-Pose2026.052.23.513.429.718.149.10.40.63751430.9526.7Ours2026.056.97.840.151.759.988.45.47.134.446.956.783.814.5915iFusion2026.0510.311.639.252.250.971.14.15.217.623.323.733.413.9816