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ResearchFormerly WizWand

Single-reference novel object pose estimation on LM-O

60.8mAPCOG (Supervised)
20.96831.30941.6551.991Feb 28, 2026
Updated 8mo ago

Evaluation results

MethodLinks
COG (Supervised)Supervision=GT Pose, Modality=PC+RGB, Reference=Image, Time (s)=4.02026.0260.8
UnoPoseSupervision=GT Pose, Modality=PC+RGB, Reference=Image, Time (s)=3.72026.0258.7
COG (Unsupervised)Supervision=None, Modality=PC+RGB, Reference=Image, Time (s)=4.02026.0256.7
SAM-6DSupervision=GT Pose, Modality=PC+RGB, Reference=Posed Image, Time (s)=4.22026.0254.5
Dustbin OTSupervision=None, Modality=PC+RGB, Reference=Image, Time (s)=4.22026.0250.2
Robust OTSupervision=None, Modality=PC+RGB, Reference=Image, Time (s)=4.02026.0245.5
FreeZeSupervision=None, Modality=PC+RGB, Reference=Image, Time (s)=53.02026.0245.5
PPF+ICPSupervision=None, Modality=PC, Reference=Image, Time (s)=14.32026.0244.7
GeDiSupervision=GT Pose, Modality=PC, Reference=Image, Time (s)=48.92026.0242.8
RPM-NetSupervision=GT Pose, Modality=PC, Reference=Image, Time (s)=3.22026.0238.9
FCGF+RANSACSupervision=GT Pose, Modality=PC, Reference=Image, Time (s)=11.02026.0238.9
FCGF+MACSupervision=GT Pose, Modality=PC, Reference=Image, Time (s)=60.52026.0233.9
FPFH+RANSACSupervision=None, Modality=PC, Reference=Image, Time (s)=6.42026.0231
PPFSupervision=None, Modality=PC, Reference=Image, Time (s)=11.82026.0229.7
FPFH+MACSupervision=None, Modality=PC, Reference=Image, Time (s)=136.92026.0222.5