Table 3.

Comparisons with state-of-the-art methods on YCB-Video dataset [19]. We report the AUC scores, ADD|I and 2D reprojection error for the 21 image sequences of YCB-Video dataset. The best results for each term are shown in bold.

Sequence	PoseCNN [19]			DeepHMap [11]			DeepHMap++
	AUC	ADD|I	2D Repr.	AUC	ADD|I	2D Repr.	AUC	ADD|I	2D Repr.
002 master chef can	50.1	3.6	0.1	68.5	32.9	9.9	75.8	40.1	20.1
003 cracker box	52.9	25.1	0.1	74.7	62.6	24.5	78.0	69.5	34.5
004 sugar box	68.3	40.3	7.1	74.9	44.5	47.0	76.5	49.7	58.9
005 tomato soup can	66.1	25.5	5.2	68.7	31.1	41.5	72.1	36.1	49.8
006 mustard bottle	80.8	61.9	6.4	72.6	42.0	42.3	78.9	57.9	60.1
007 tuna fish can	70.6	11.4	3.0	38.2	6.8	7.1	51.6	9.8	19.5
008 pudding box	62.2	14.5	5.1	82.9	58.4	43.9	85.6	67.2	56.8
009 gelatin box	74.8	12.1	15.8	82.8	42.5	62.1	86.7	59.1	76.8
010 potted meat can	59.5	18.9	23.1	66.8	37.6	38.5	70.1	42.0	42.3
011 banana	72.1	30.3	0.3	44.9	16.8	8.2	47.9	19.3	10.5
019 pitcher base	53.1	15.6	0.0	70.3	57.2	15.9	71.8	58.5	19.8
021 bleach cleanser	50.2	21.2	1.2	67.1	65.3	12.1	69.1	69.4	18.5
024 bowl	69.8	12.1	4.4	58.6	25.6	16.0	60.2	27.7	18.1
025 mug	58.4	5.2	0.8	38.0	11.6	20.3	43.4	12.9	26.3
035 power drill	55.2	29.9	3.3	72.6	46.1	40.9	76.8	51.8	50.1
036 wood block	61.8	10.7	0.0	57.7	34.3	2.5	61.3	35.7	2.8
037 scissors	35.3	2.2	0.0	30.9	0.0	0.0	42.9	2.1	6.7
040 large marker	58.1	3.4	1.4	46.2	3.2	0.0	47.6	3.6	0.8
051 large clamp	50.1	28.5	0.3	42.4	10.8	0.0	44.1	11.2	8.7
052 extra large clamp	46.5	19.6	0.6	48.1	29.6	0.0	51.9	30.9	0.8
061 foam brick	85.9	54.5	0.0	82.7	51.7	52.4	84.1	55.4	59.7
Average	61.0	21.3	3.7	61.4	33.8	23.1	65.5	38.6	30.6