Silhouette-based Pose Estimation on BcOT 1.0 (test)
0.71Mean RMSEGlOptiPoSΠ+
Evaluation results
| Method | Links | ||
|---|---|---|---|
| GlOptiPoSΠ+Object=Stitch, Depth-prior setting=Nominal, Object Type=Symmetric2026.04 | 0.71 | 0.41 | |
| GlOptiPoSΠ+Object=Cat, Depth-prior setting=Nominal, Object Type=Symmetric2026.04 | 0.72 | 0.46 | |
| GlOptiPoSΠ+Object=Wall Shelf, Depth-prior setting=Nominal, Object Type=Asymmetric2026.04 | 0.76 | 0.72 | |
| GlOptiPoSΠ+Object=Standtube, Depth-prior setting=Nominal, Object Type=Asymmetric2026.04 | 1.08 | 0.71 | |
| GlOptiPoSΠ+Object=Driller, Depth-prior setting=Nominal, Object Type=Asymmetric2026.04 | 1.31 | 1.36 | |
| GlOptiPoSΠ+Object=Tube, Depth-prior setting=Nominal, Object Type=Asymmetric2026.04 | 1.36 | 0.82 | |
| GlOptiPoSΠ+Object=Flashlight, Depth-prior setting=Nominal, Object Type=Asymmetric2026.04 | 1.37 | 1.35 | |
| GlOptiPoSΠ+Object=Auto GPS, Depth-prior setting=Nominal, Object Type=Asymmetric2026.04 | 1.57 | 2.05 | |
| GlOptiPoSΠ+Object=Ape, Depth-prior setting=Nominal, Object Type=Symmetric2026.04 | 1.6 | 2.25 | |
| GlOptiPoSΠ+Object=Jack, Depth-prior setting=Nominal, Object Type=Symmetric2026.04 | 1.75 | 2.22 | |
| GlOptiPoSΠ+Object=Squirrel, Depth-prior setting=Nominal, Object Type=Symmetric2026.04 | 2.1 | 2.14 | |
| GlOptiPoSΠ+Object=Vampire queen, Depth-prior setting=Nominal, Object Type=Symmetric2026.04 | 2.24 | 1.76 | |
| GlOptiPoSΠ+Object=3D Touch, Depth-prior setting=Nominal, Object Type=Asymmetric2026.04 | 3.99 | 12.21 | |
| GlOptiPoSΠ+Object=Deadpool, Depth-prior setting=Nominal, Object Type=Asymmetric2026.04 | 4 | 12.27 | |
| GlOptiPoSΠ+Object=RJ45, Depth-prior setting=Nominal, Object Type=Asymmetric2026.04 | 5.39 | 19.25 | |
| GlOptiPoSΠObject=Driller, Depth-prior deviation=± 8 cm, Object Type=Asymmetric2026.04 | 8.22 | 1.21 | |
| GlOptiPoSΠObject=Stitch, Depth-prior deviation=± 8 cm, Object Type=Symmetric2026.04 | 8.26 | 1.14 | |
| STI-PoseObject=Ape, Depth bounds=± 5 cm, Object Type=Symmetric2026.04 | 10.01 | 1.55 | |
| GlOptiPoSΠObject=Jack, Depth-prior deviation=± 8 cm, Object Type=Symmetric2026.04 | 10.04 | 4.01 | |
| GlOptiPoSΠObject=Wall Shelf, Depth-prior deviation=± 8 cm, Object Type=Asymmetric2026.04 | 10.24 | 2.13 | |
| GlOptiPoSΠ+Object=Bracket, Depth-prior setting=Nominal, Object Type=Asymmetric2026.04 | 10.26 | 27.87 | |
| GlOptiPoSΠ+Object=Teapot, Depth-prior setting=Nominal, Object Type=Asymmetric2026.04 | 10.51 | 24.57 | |
| STI-PoseObject=Jack, Depth bounds=± 5 cm, Object Type=Symmetric2026.04 | 10.71 | 19.05 | |
| STI-PoseObject=Bracket, Depth bounds=± 5 cm, Object Type=Asymmetric2026.04 | 15.06 | 1.79 | |
| STI-PoseObject=Deadpool, Depth bounds=± 5 cm, Object Type=Asymmetric2026.04 | 15.08 | 11.74 | |
| GlOptiPoSΠObject=Bracket, Depth-prior deviation=± 8 cm, Object Type=Asymmetric2026.04 | 17.41 | 11 | |
| STI-PoseObject=Stitch, Depth bounds=± 5 cm, Object Type=Symmetric2026.04 | 18.87 | 27.74 | |
| GlOptiPoSΠ+Object=Lego, Depth-prior setting=Nominal, Object Type=Asymmetric2026.04 | 19.28 | 23.47 | |
| STI-PoseObject=Cat, Depth bounds=± 5 cm, Object Type=Symmetric2026.04 | 19.29 | 9.87 | |
| GlOptiPoSΠObject=3D Touch, Depth-prior deviation=± 8 cm, Object Type=Asymmetric2026.04 | 21.21 | 7.44 | |
| GlOptiPoSΠObject=Tube, Depth-prior deviation=± 8 cm, Object Type=Asymmetric2026.04 | 21.71 | 3.6 | |
| STI-PoseObject=Teapot, Depth bounds=± 5 cm, Object Type=Asymmetric2026.04 | 25.41 | 30.98 | |
| STI-PoseObject=Vampire queen, Depth bounds=± 5 cm, Object Type=Symmetric2026.04 | 26.98 | 6.77 | |
| STI-PoseObject=Tube, Depth bounds=± 5 cm, Object Type=Asymmetric2026.04 | 27.96 | 29.2 | |
| STI-PoseObject=Standtube, Depth bounds=± 5 cm, Object Type=Asymmetric2026.04 | 29.05 | 34.91 | |
| STI-PoseObject=Stitch, Depth bounds=± 10 cm, Object Type=Symmetric2026.04 | 29.07 | 33.34 | |
| STI-PoseObject=Lego, Depth bounds=± 5 cm, Object Type=Asymmetric2026.04 | 29.5 | 25.1 | |
| STI-PoseObject=Cat, Depth bounds=± 10 cm, Object Type=Symmetric2026.04 | 31.71 | 21.98 | |
| STI-PoseObject=Jack, Depth bounds=± 10 cm, Object Type=Symmetric2026.04 | 32.04 | 35.14 | |
| STI-PoseObject=RJ45, Depth bounds=± 5 cm, Object Type=Asymmetric2026.04 | 32.22 | 38.76 | |
| GlOptiPoSΠ+Object=RTI Arm, Depth-prior setting=Nominal, Object Type=Asymmetric2026.04 | 32.37 | 43.8 | |
| STI-PoseObject=Ape, Depth bounds=± 10 cm, Object Type=Symmetric2026.04 | 32.74 | 28.07 | |
| STI-PoseObject=3D Touch, Depth bounds=± 5 cm, Object Type=Asymmetric2026.04 | 33.4 | 19.99 | |
| STI-PoseObject=Squirrel, Depth bounds=± 10 cm, Object Type=Symmetric2026.04 | 36.2 | 42.85 | |
| GlOptiPoSΠ+Object=Lamp clamp, Depth-prior setting=Nominal, Object Type=Asymmetric2026.04 | 36.55 | 50.63 | |
| STI-PoseObject=Standtube, Depth bounds=± 10 cm, Object Type=Asymmetric2026.04 | 36.68 | 42.23 | |
| STI-PoseObject=Wall Shelf, Depth bounds=± 5 cm, Object Type=Asymmetric2026.04 | 37.3 | 34.58 | |
| STI-PoseObject=Squirrel, Depth bounds=± 5 cm, Object Type=Symmetric2026.04 | 38.08 | 42.64 | |
| STI-PoseObject=Deadpool, Depth bounds=± 10 cm, Object Type=Asymmetric2026.04 | 40.74 | 36.63 | |
| GlOptiPoSΠObject=RTI Arm, Depth-prior deviation=± 8 cm, Object Type=Asymmetric2026.04 | 41.53 | 27.78 | |
| STI-PoseObject=Flashlight, Depth bounds=± 5 cm, Object Type=Asymmetric2026.04 | 42.51 | 33.59 | |
| STI-PoseObject=Teapot, Depth bounds=± 10 cm, Object Type=Asymmetric2026.04 | 46.92 | 40.43 | |
| GlOptiPoSΠObject=Lego, Depth-prior deviation=± 8 cm, Object Type=Asymmetric2026.04 | 47.3 | 32.09 | |
| STI-PoseObject=Bracket, Depth bounds=± 10 cm, Object Type=Asymmetric2026.04 | 47.35 | 50.1 | |
| STI-PoseObject=RJ45, Depth bounds=± 10 cm, Object Type=Asymmetric2026.04 | 47.62 | 48.01 | |
| STI-PoseObject=Tube, Depth bounds=± 10 cm, Object Type=Asymmetric2026.04 | 47.84 | 40.6 | |
| STI-PoseObject=Wall Shelf, Depth bounds=± 10 cm, Object Type=Asymmetric2026.04 | 48.32 | 39.88 | |
| STI-PoseObject=3D Touch, Depth bounds=± 10 cm, Object Type=Asymmetric2026.04 | 48.61 | 31.62 | |
| STI-PoseObject=Vampire queen, Depth bounds=± 10 cm, Object Type=Symmetric2026.04 | 49.53 | 32.61 | |
| GlOptiPoSΠObject=Auto GPS, Depth-prior deviation=± 8 cm, Object Type=Asymmetric2026.04 | 52.24 | 27.05 | |
| GlOptiPoSΠObject=Ape, Depth-prior deviation=± 8 cm, Object Type=Symmetric2026.04 | 54.61 | 28.99 | |
| STI-PoseObject=Flashlight, Depth bounds=± 10 cm, Object Type=Asymmetric2026.04 | 57.25 | 42.57 | |
| GlOptiPoSΠObject=Vampire queen, Depth-prior deviation=± 8 cm, Object Type=Symmetric2026.04 | 57.6 | 8.07 | |
| STI-PoseObject=Lego, Depth bounds=± 10 cm, Object Type=Asymmetric2026.04 | 58.35 | 28.78 | |
| STI-PoseObject=Driller, Depth bounds=± 5 cm, Object Type=Asymmetric2026.04 | 62.74 | 51.7 | |
| GlOptiPoSΠObject=Deadpool, Depth-prior deviation=± 8 cm, Object Type=Asymmetric2026.04 | 67.12 | 38.58 | |
| STI-PoseObject=Lamp clamp, Depth bounds=± 10 cm, Object Type=Asymmetric2026.04 | 73.2 | 49.22 | |
| STI-PoseObject=Driller, Depth bounds=± 10 cm, Object Type=Asymmetric2026.04 | 76.93 | 61.11 | |
| STI-PoseObject=Lamp clamp, Depth bounds=± 5 cm, Object Type=Asymmetric2026.04 | 77.03 | 44.52 | |
| GlOptiPoSΠObject=Cat, Depth-prior deviation=± 8 cm, Object Type=Symmetric2026.04 | 78.8 | 10.88 | |
| STI-PoseObject=RTI Arm, Depth bounds=± 5 cm, Object Type=Asymmetric2026.04 | 79.31 | 66.97 | |
| GlOptiPoSΠObject=Teapot, Depth-prior deviation=± 8 cm, Object Type=Asymmetric2026.04 | 81.4 | 10.12 | |
| STI-PoseObject=Auto GPS, Depth bounds=± 5 cm, Object Type=Asymmetric2026.04 | 88.39 | 41.51 | |
| GlOptiPoSΠObject=Flashlight, Depth-prior deviation=± 8 cm, Object Type=Asymmetric2026.04 | 88.76 | 9.31 | |
| STI-PoseObject=Auto GPS, Depth bounds=± 10 cm, Object Type=Asymmetric2026.04 | 93.44 | 47.81 | |
| GlOptiPoSΠObject=RJ45, Depth-prior deviation=± 8 cm, Object Type=Asymmetric2026.04 | 94.57 | 24.81 | |
| GlOptiPoSΠObject=Standtube, Depth-prior deviation=± 8 cm, Object Type=Asymmetric2026.04 | 109.56 | 65.78 | |
| STI-PoseObject=RTI Arm, Depth bounds=± 10 cm, Object Type=Asymmetric2026.04 | 110.85 | 59.98 | |
| GlOptiPoSΠObject=Lamp clamp, Depth-prior deviation=± 8 cm, Object Type=Asymmetric2026.04 | 113.25 | 61.66 | |
| GlOptiPoSΠObject=Squirrel, Depth-prior deviation=± 8 cm, Object Type=Symmetric2026.04 | 121.91 | 79.19 |