Table 4 Evaluation results of our model and existing main methods in terms of ADD(-S) on the Linemod dataset. Bold names are symmetric objects.
From: Enhancing object pose estimation for RGB images in cluttered scenes
| Â | PoseCNN5 | Efficient pose24 | RePose34 | Trans6D39 | Ullah et al.26 | BDR6D22 | OURS |
|---|---|---|---|---|---|---|---|
Ape | 77.0 | 87.71 | 79.5 | 88.3 | 87.78 | 90.6 | 86.09 |
Bench vi. | 97.5 | 99.71 | 100 | 99.4 | 99.20 | 98.2 | 100 |
Camera | 93.5 | 97.94 | 99.2 | 97.8 | 99.32 | 98.5 | 96.76 |
Can | 96.5 | 98.52 | 99.8 | 99.1 | 98.63 | 99.1 | 99.01 |
Cat | 82.1 | 98.00 | 97.9 | 93.2 | 98.22 | 97.6 | 99.40 |
Driller | 95.0 | 99.90 | 99.0 | 99.5 | 99.30 | 98.6 | 99.80 |
Duck | 77.7 | 90.99 | 80.3 | 87.8 | 92.00 | 94.5 | 92.11 |
Eggbox | 97.1 | 100 | 100 | 100 | 100 | 99.9 | 100 |
Glue | 99.4 | 100 | 98.3 | 99.8 | 99.96 | 98.3 | 100 |
Holepuncher | 52.8 | 95.15 | 96.9 | 96.7 | 96.23 | 92.7 | 95.14 |
Iron | 98.3 | 99.69 | 100 | 99.9 | 99.46 | 98.4 | 99.69 |
Lamp | 97.5 | 100 | 99.8 | 99.7 | 99.86 | 97.3 | 100 |
Phone | 87.7 | 97.98 | 98.9 | 99.5 | 99.20 | 94.8 | 98.94 |
Average | 88.6 | 97.35 | 96.1 | 96.9 | 97.62 | 96.8 | 97.45 |
