Table 4.
Performance of category level methods on REAL275 dataset.
| Methods | Years | Input | 5°5 cm | 10°5 cm | IoU50 | IoU75 |
|---|---|---|---|---|---|---|
| NOCS [116] | 2019 | RGB-D | 10.0 | 25.2 | 78.0 | 30.1 |
| SPD [121] | 2020 | RGB-D | 21.4 | 54.1 | 77.3 | 53.2 |
| 6-PACK [128] | 2020 | RGB-D | 33.3 | - | - | - |
| DualPoseNet [119] | 2021 | RGB-D | 35.9 | 66.8 | 79.8 | 62.2 |
| FS-Net [17] | 2021 | RGB-D | 28.2 | 60.8 | 92.2 | 63.5 |
| ACR-Pose [122] | 2021 | RGB-D | 36.9 | 65.9 | 82.8 | 66.0 |
| SGPA [123] | 2021 | RGB-D | 39.6 | 70.0 | 80.1 | 61.9 |
| CAPTRA [129] | 2021 | D | 62.16 | - | - | - |
| DPDN [124] | 2022 | RGB-D | 50.7 | 78.4 | 83.4 | 76.0 |
| CATRE [130] + SPD | 2022 | RGB-D | 54.4 | 73.1 | - | 43.6 |
| CR-Net [131] | 2021 | RGB-D | 34.3 | 47.2 | 79.3 | 55.9 |
| RBP-Pose [132] | 2022 | RGB-D | 48.1 | 79.2 | - | - |
| SSP-Pose [133] | 2022 | RGB-D | 44.6 | 77.8 | 82.3 | 66.3 |
| GenPose [134] | 2023 | D | 60.9 | 84.0 | - | - |