Table 2.
Pose estimation results of CorrNet (ours) and RANSAC [11] based method on an Occluded LineMOD dataset [6]. The best results for each term are shown in bold.
| Sequence | ADD|I | 2D Reprojection Error | ||||
|---|---|---|---|---|---|---|
| RANSAC [11] | CorrNet w/o CC | CorrNet | RANSAC [11] | CorrNet w/o CC | CorrNet | |
| Ape | 16.5 | 17.0 | 17.3 | 64.7 | 66.5 | 68.6 |
| Can | 42.5 | 45.8 | 49.2 | 53.0 | 61.7 | 64.9 |
| Cat | 2.8 | 2.9 | 3.0 | 47.9 | 51.4 | 53.3 |
| Driller | 47.1 | 54.6 | 57.7 | 35.1 | 48.5 | 55.0 |
| Duck | 11.0 | 12.1 | 13.2 | 36.1 | 39.5 | 47.3 |
| Eggbox | 24.7 | 24.9 | 25.0 | 10.3 | 10.3 | 10.4 |
| Glue | 39.5 | 39.7 | 39.9 | 44.9 | 51.7 | 53.4 |
| Holepuncher | 21.9 | 21.9 | 21.9 | 52.9 | 56.6 | 57.6 |
| Average | 25.8 | 27.4 | 28.4 | 43.1 | 48.3 | 51.3 |