Table 1 Pose registration analysis with Tejani et al.44 and T-LESS45 datasets.

From: Unsupervised learning-based approach for detecting 3D edges in depth maps

M

Tejani et al.44

T-Less45

Object

\(||{A}||_F\)*

\(\textbf{R}_{err}\)*

\(\textbf{T}_{err}\)*

\(\varvec{Z}_E\)*

Obj.ID

\(||{A}||_F\)*

\(\textbf{R}_{err}\)*

\(\textbf{T}_{err}\)*

\(\varvec{Z}_E\)*

Choi et al.2

Joystick

2.42 ± 0.64

2.13 ± 0.74

0.66 ± 0.26

0.11 ± 0.05

2

2.53 ± 0.53

2.19 ± 0.65

0.79 ± 0.33

0.02 ± 0.01

Juice

2.54 ± 0.54

2.31 ± 0.68

0.65 ± 0.24

0.09 ± 0.04

5

2.45 ± 0.77

2.19 ± 0.87

0.80 ± 0.37

0.04 ± 0.02

Milk

2.27 ± 0.73

2.01 ± 0.84

0.58 ± 0.26

0.10 ± 0.06

8

2.43 ± 0.91

2.28 ± 0.99

0.77 ± 0.40

0.08 ± 0.05

Camera

2.33 ± 0.73

2.09 ± 0.85

0.60 ± 0.28

0.05 ± 0.03

17

2.32 ± 0.81

2.03 ± 0.89

0.74 ± 0.40

0.05 ± 0.03

Cup

2.30 ± 0.63

1.98 ± 0.72

0.59 ± 0.24

0.06 ± 0.03

27

2.47 ± 0.80

2.27 ± 0.91

0.80 ± 0.39

0.08 ± 0.04

Avg.

2.37 ± 0.65

2.10 ± 0.76

0.62 ± 0.26

0.08 ± 0.04

Avg.

2.44 ± 0.76

2.19 ± 0.86

0.78 ± 0.38

0.05 ± 0.03

Fast Edge13

Joystick

2.42 ± 0.58

2.08 ± 0.69

0.70 ± 0.27

0.10 ± 0.05

2

2.57 ± 0.47

2.18 ± 0.61

0.90 ± 0.30

0.02 ± 0.01

Juice

2.48 ± 0.64

2.25 ± 0.77

0.67 ± 0.26

0.09 ± 0.02

5

2.55 ± 0.55

2.19 ± 0.66

0.87 ± 0.33

0.04 ± 0.01

Milk

2.24 ± 0.78

1.99 ± 0.88

0.56 ± 0.26

0.09 ± 0.06

8

2.60 ± 0.79

2.42 ± 0.86

0.89 ± 0.40

0.08 ± 0.05

Camera

2.58 ± 0.56

2.39 ± 0.70

0.68 ± 0.26

0.06 ± 0.03

17

2.46 ± 0.66

2.12 ± 0.76

0.84 ± 0.36

0.05 ± 0.02

Cup

2.43 ± 0.56

2.13 ± 0.69

0.64 ± 0.22

0.06 ± 0.03

27

2.50 ± 0.76

2.26 ± 0.86

0.85 ± 0.40

0.08 ± 0.04

Avg.

2.43 ± 0.62

2.17 ± 0.74

0.65 ± 0.25

0.08 ± 0.04

Avg.

2.53 ± 0.65

2.23 ± 0.75

0.87 ± 0.36

0.05 ± 0.02

Sung et al.15

Joystick

2.46 ± 0.53

2.17 ± 0.68

0.62 ± 0.28

0.11 ± 0.03

2

2.53 ± 2.72

3.14 ± 3.0

0.76 ± 2.74

0.03 ± 0.01

Juice

2.30 ± 0.56

2.00 ± 0.70

0.47 ± 0.23

0.08 ± 0.02

5

2.64 ± 3.14

2.24 ± 0.71

0.80 ± 3.19

0.04 ± 0.01

Milk

2.49 ± 0.53

2.21 ± 0.67

0.64 ± 0.27

1.11 ± 0.03

8

2.52 ± 1.65

3.14 ± 3.0

0.68 ± 1.62

0.08 ± 0.02

Camera

2.32 ± 0.59

2.05 ± 0.74

0.5 ± 0.23

0.05 ± 0.01

17

2.55 ± 1.78

2.26 ± 0.70

0.69 ± 1.76

0.05 ± 0.01

Cup

2.29 ± 0.58

2.00 ± 0.73

0.45 ± 0.21

0.06 ± 0.02

27

2.65 ± 3.68

2.16 ± 0.72

0.86 ± 3.74

0.08 ± 0.02

Avg.

2.33 ± 0.57

2.03 ± 0.72

0.55 ± 0.21

0.06 ± 0.02

Avg.

2.65 ± 3.68

2.16 ± 0.72

0.86 ± 3.74

0.08 ± 0.02

Ours

Joystick

2.46 ± 0.47

2.19 ± 0.64

0.53 ± 0.20

0.10 ± 0.05

2

2.56 ± 0.51

2.20 ± 0.68

0.90 ± 0.28

0.02 ± 0.01

Juice

2.44 ± 0.50

2.18 ± 0.67

0.53 ± 0.20

0.08 ± 0.04

5

2.51 ± 0.63

2.20 ± 0.75

0.84 ± 0.33

0.04 ± 0.02

Milk

2.49 ± 0.52

2.31 ± 0.71

0.50 ± 0.20

0.11 ± 0.05

8

2.55 ± 0.86

2.40 ± 0.93

0.87 ± 0.38

0.08 ± 0.05

Camera

2.50 ± 0.48

2.27 ± 0.66

0.56 ± 0.17

0.05 ± 0.02

17

2.33 ± 0.80

2.02 ± 0.88

0.80 ± 0.37

0.04 ± 0.02

Cup

2.47 ± 0.48

2.24 ± 0.65

0.47 ± 0.17

0.06 ± 0.02

27

2.49 ± 0.72

2.24 ± 0.84

0.84 ± 0.36

0.08 ± 0.04

Avg.

2.47 ± 0.49

2.23 ± 0.66

0.52 ± 0.18

0.07 ± 0.03

Avg.

2.48 ± 0.70

2.21 ± 0.81

0.85 ± 0.34

0.05 ± 0.02

  1. \(^{*}\)Smaller values indicate better performance. Significant values are in bold.
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