1 Image, 2*2 Stitchi on LineMOD

Metric: Mean ADD (higher is better)

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#	Model↕	Mean ADD▼	Extra Data	Paper	Date↕	Code
1	RCVPose+ICP	99.7	No	Vote from the Center: 6 DoF Pose Estimation in R...	2021-04-06	Code
2	PVN3D	99.4	No	PVN3D: A Deep Point-wise 3D Keypoints Voting Net...	2019-11-11	Code
3	RCVPose	99.4	No	Vote from the Center: 6 DoF Pose Estimation in R...	2021-04-06	Code
4	MaskedFusion	97.8	No	MaskedFusion: Mask-based 6D Object Pose Estimation	2019-11-18	Code
5	RNNPose	97.37	No	RNNPose: Recurrent 6-DoF Object Pose Refinement ...	2022-03-24	Code
6	EfficientPose	97.35	No	EfficientPose: An efficient, accurate and scalab...	2020-11-09	Code
7	YOLOv5-6D	96.84	No	-	-	Code
8	EPro-PnP-6DoF v2	96.36	No	EPro-PnP: Generalized End-to-End Probabilistic P...	2023-03-22	Code
9	RePOSE	96.1	No	RePOSE: Fast 6D Object Pose Refinement via Deep ...	2021-04-01	Code
10	EPro-PnP-6DoF v1	95.8	No	EPro-PnP: Generalized End-to-End Probabilistic P...	2022-03-24	Code
11	ROPE	95.61	No	Occlusion-Robust Object Pose Estimation with Hol...	2021-10-22	Code
12	DPOD	95.2	No	DPOD: 6D Pose Object Detector and Refiner	2019-02-28	Code
13	DeepFusion	94.3	No	DenseFusion: 6D Object Pose Estimation by Iterat...	2019-01-15	Code
14	HRNet (DSNT + BPnP)	93.3	No	End-to-End Learnable Geometric Vision by Backpro...	2019-09-13	Code
15	HybridPose	91.3	No	HybridPose: 6D Object Pose Estimation under Hybr...	2020-01-07	Code
16	SSD-6D	90.9	No	SSD-6D: Making RGB-based 3D detection and 6D pos...	2017-11-27	Code
17	CDPN	89.86	No	-	-	-
18	PoseCNN + DeepIM	88.6	No	DeepIM: Deep Iterative Matching for 6D Pose Esti...	2018-03-31	Code
19	E2E6DoF	86.8	No	End-to-End Differentiable 6DoF Object Pose Estim...	2020-11-22	-
20	PVNet	86.27	No	PVNet: Pixel-wise Voting Network for 6DoF Pose E...	2018-12-31	Code
21	CullNet	78.3	No	CullNet: Calibrated and Pose Aware Confidence Sc...	2019-09-30	Code
22	SSD-6D	76.3	No	SSD-6D: Making RGB-based 3D detection and 6D pos...	2017-11-27	Code
23	Keypoint Detector Localization	72.6	No	Estimating 6D Pose From Localizing Designated Su...	2018-12-04	Code
24	Augmented Autoencoder	64.67	No	Implicit 3D Orientation Learning for 6D Object D...	2019-02-04	Code
25	Single-shot Deep CNN	55.95	No	Real-Time Seamless Single Shot 6D Object Pose Pr...	2017-11-24	Code
26	BB8	43.6	No	BB8: A Scalable, Accurate, Robust to Partial Occ...	2017-03-31	Code
27	Pix2Pose	32	No	Pix2Pose: Pixel-Wise Coordinate Regression of Ob...	2019-08-20	Code
28	Augmented Autoencoder	28.7	No	Implicit 3D Orientation Learning for 6D Object D...	2019-02-04	Code

#1RCVPose+ICPSOTA
99.7
Mean ADD· 2021-04-06
Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Voting Code
#2PVN3DSOTA
99.4
Mean ADD· 2019-11-11
PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation Code
#3RCVPose
99.4
Mean ADD· 2021-04-06
Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Voting Code
#4MaskedFusion
97.8
Mean ADD· 2019-11-18
MaskedFusion: Mask-based 6D Object Pose Estimation Code
#5RNNPose
97.37
Mean ADD· 2022-03-24
RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimization Code
#6EfficientPose
97.35
Mean ADD· 2020-11-09
EfficientPose: An efficient, accurate and scalable end-to-end 6D multi object pose estimation approach Code
#7YOLOv5-6D
96.84
Mean ADD
No paperCode
#8EPro-PnP-6DoF v2
96.36
Mean ADD· 2023-03-22
EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for Monocular Object Pose Estimation Code
#9RePOSE
96.1
Mean ADD· 2021-04-01
RePOSE: Fast 6D Object Pose Refinement via Deep Texture Rendering Code
#10EPro-PnP-6DoF v1
95.8
Mean ADD· 2022-03-24
EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for Monocular Object Pose Estimation Code
#11ROPE
95.61
Mean ADD· 2021-10-22
Occlusion-Robust Object Pose Estimation with Holistic Representation Code
#12DPODSOTA
95.2
Mean ADD· 2019-02-28
DPOD: 6D Pose Object Detector and Refiner Code
#13DeepFusionSOTA
94.3
Mean ADD· 2019-01-15
DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion Code
#14HRNet (DSNT + BPnP)
93.3
Mean ADD· 2019-09-13
End-to-End Learnable Geometric Vision by Backpropagating PnP Optimization Code
#15HybridPose
91.3
Mean ADD· 2020-01-07
HybridPose: 6D Object Pose Estimation under Hybrid Representations Code
#16SSD-6DSOTA
90.9
Mean ADD· 2017-11-27
SSD-6D: Making RGB-based 3D detection and 6D pose estimation great again Code
#17CDPN
89.86
Mean ADD
No paper
#18PoseCNN + DeepIM
88.6
Mean ADD· 2018-03-31
DeepIM: Deep Iterative Matching for 6D Pose Estimation Code
#19E2E6DoF
86.8
Mean ADD· 2020-11-22
End-to-End Differentiable 6DoF Object Pose Estimation with Local and Global Constraints
#20PVNet
86.27
Mean ADD· 2018-12-31
PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation Code
#21CullNet
78.3
Mean ADD· 2019-09-30
CullNet: Calibrated and Pose Aware Confidence Scores for Object Pose Estimation Code
#22SSD-6D
76.3
Mean ADD· 2017-11-27
SSD-6D: Making RGB-based 3D detection and 6D pose estimation great again Code
#23Keypoint Detector Localization
72.6
Mean ADD· 2018-12-04
Estimating 6D Pose From Localizing Designated Surface Keypoints Code
#24Augmented Autoencoder
64.67
Mean ADD· 2019-02-04
Implicit 3D Orientation Learning for 6D Object Detection from RGB Images Code
#25Single-shot Deep CNNSOTA
55.95
Mean ADD· 2017-11-24
Real-Time Seamless Single Shot 6D Object Pose Prediction Code
#26BB8SOTA
43.6
Mean ADD· 2017-03-31
BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depth Code
#27Pix2Pose
32
Mean ADD· 2019-08-20
Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimation Code
#28Augmented Autoencoder
28.7
Mean ADD· 2019-02-04
Implicit 3D Orientation Learning for 6D Object Detection from RGB Images Code