Table 2 Pose Estimation results of different models on YCB-video dataset.
From: Enhanced RGB-D feature extraction for 6D pose estimation
Object | PoseCNN | DenseFusion | PVN3D | FFB6D | Ours | |||||
|---|---|---|---|---|---|---|---|---|---|---|
A | S | A | S | A | S | A | S | A | S | |
Master_chef_can | 83.9 | 50.2 | 95.3 | 70.7 | 96.0 | 80.5 | 96.3 | 80.6 | 97.5 | 83.6 |
Craker_box | 76.9 | 53.1 | 92.5 | 86.9 | 96.1 | 94.8 | 96.3 | 94.6 | 97.7 | 96.2 |
Sugar_box | 84.2 | 68.4 | 95.1 | 90.8 | 97.4 | 96.3 | 97.6 | 96.6 | 98.6 | 97.8 |
Tomato_soup_can | 81.0 | 66.2 | 93.8 | 84.7 | 96.2 | 88.5 | 95.6 | 89.6 | 96.5 | 90.5 |
Mustard_bottle | 90.4 | 81.0 | 95.8 | 90.9 | 97.5 | 96.2 | 97.8 | 97.0 | 98.3 | 97.9 |
Tuna_fish_can | 88.0 | 70.7 | 95.7 | 79.6 | 96.0 | 89.3 | 96.8 | 88.9 | 97.6 | 92.2 |
Pudding_box | 79.1 | 62.7 | 94.3 | 89.3 | 97.1 | 95.7 | 97.1 | 94.6 | 96.4 | 93.5 |
Gelatin_box | 87.2 | 75.2 | 97.2 | 95.8 | 97.7 | 96.1 | 98.1 | 96.9 | 98.9 | 96.0 |
Potted_meat_can | 78.5 | 59.5 | 89.3 | 79.6 | 93.3 | 88.6 | 94.7 | 88.1 | 94.0 | 91.4 |
Banana | 86.0 | 72.3 | 90.0 | 76.7 | 96.6 | 93.7 | 97.2 | 94.9 | 97.9 | 94.7 |
Picher_base | 77.0 | 53.3 | 93.6 | 87.1 | 97.4 | 96.5 | 97.6 | 96.9 | 97.8 | 97.3 |
Bleach_cleanser | 71.6 | 50.3 | 94.4 | 87.5 | 96.0 | 93.2 | 96.8 | 94.8 | 97.0 | 94.4 |
Bowl | 69.6 | 69.6 | 86.0 | 86.0 | 90.2 | 90.2 | 96.3 | 96.3 | 96.7 | 95.8 |
Mug | 78.2 | 58.5 | 95.3 | 83.8 | 97.6 | 95.4 | 97.3 | 94.2 | 97.8 | 95.7 |
Power_drill | 72.7 | 55.3 | 92.1 | 83.7 | 96.7 | 95.1 | 97.2 | 95.9 | 97.8 | 96.4 |
Wood_block | 64.3 | 64.3 | 89.5 | 89.5 | 90.4 | 90.4 | 92.6 | 92.6 | 94.3 | 94.7 |
Scissors | 56.9 | 35.8 | 90.1 | 77.4 | 96.7 | 92.7 | 97.7 | 95.7 | 98.3 | 97.3 |
Large_marker | 71.7 | 58.3 | 95.1 | 89.1 | 96.7 | 91.8 | 96.6 | 89.1 | 97.6 | 91.3 |
Large_clamp | 50.2 | 50.2 | 71.5 | 71.5 | 93.6 | 93.6 | 96.8 | 96.8 | 97.1 | 97.3 |
Extra_clamp | 44.1 | 44.1 | 70.2 | 70.2 | 88.4 | 88.4 | 96.0 | 96.0 | 96.2 | 96.1 |
Foam_brick | 88.0 | 88.0 | 92.2 | 92.2 | 96.8 | 96.8 | 97.3 | 97.3 | 97.9 | 97.6 |
Average | 75.8 | 59.9 | 91.2 | 82.9 | 95.5 | 91.8 | 96.6 | 92.7 | 97.2 | 94.7 |
