Single-reference novel object pose estimation on YCB-V
83.1mAPUnoPose
Evaluation results
| Method | Links | |
|---|---|---|
| UnoPoseSupervision=GT Pose, Modality=PC+RGB, Reference=Image, Time (s)=3.72026.02 | 83.1 | |
| COG (Supervised)Supervision=GT Pose, Modality=PC+RGB, Reference=Image, Time (s)=4.02026.02 | 80.5 | |
| COG (Unsupervised)Supervision=None, Modality=PC+RGB, Reference=Image, Time (s)=4.02026.02 | 75.9 | |
| SAM-6DSupervision=GT Pose, Modality=PC+RGB, Reference=Posed Image, Time (s)=4.22026.02 | 68.1 | |
| PPF+ICPSupervision=None, Modality=PC, Reference=Image, Time (s)=14.32026.02 | 66.8 | |
| Robust OTSupervision=None, Modality=PC+RGB, Reference=Image, Time (s)=4.02026.02 | 66 | |
| FreeZeSupervision=None, Modality=PC+RGB, Reference=Image, Time (s)=53.02026.02 | 65.5 | |
| Dustbin OTSupervision=None, Modality=PC+RGB, Reference=Image, Time (s)=4.22026.02 | 65.4 | |
| GeDiSupervision=GT Pose, Modality=PC, Reference=Image, Time (s)=48.92026.02 | 60.6 | |
| FCGF+RANSACSupervision=GT Pose, Modality=PC, Reference=Image, Time (s)=11.02026.02 | 57.6 | |
| FCGF+MACSupervision=GT Pose, Modality=PC, Reference=Image, Time (s)=60.52026.02 | 51 | |
| FPFH+RANSACSupervision=None, Modality=PC, Reference=Image, Time (s)=6.42026.02 | 50 | |
| FPFH+MACSupervision=None, Modality=PC, Reference=Image, Time (s)=136.92026.02 | 49.6 | |
| PPFSupervision=None, Modality=PC, Reference=Image, Time (s)=11.82026.02 | 38.3 | |
| RPM-NetSupervision=GT Pose, Modality=PC, Reference=Image, Time (s)=3.22026.02 | 23.8 |