Table 3.

Detection rates of methods on the Occlusion dataset (%).

Objects	Hodan et al. [5]	Vidal et al. [8]	Drost et al. [9]	Brachmann et al. [15]	Ours
Ape	54	66	62	64	60
Can	66	81	75	65	75
Cat	40	46	39	44	47
Driller	26	65	70	68	80
Duck	73	73	57	71	71
Egg Box	37	43	46	3	35
Glue	44	26	26	32	55
Hole Punch	68	64	57	61	74
Average	51	58	54	51	62