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Published at November 6

GS2Pose: Tow-stage 6D Object Pose Estimation Guided by Gaussian Splatting

cs.CV

cs.AI

Released Date: November 6, 2024

Authors: Jilan Mei¹, Junbo Li¹, Cai Meng¹

Aff.: ¹Beihang University

Arxiv: http://arxiv.org/abs/2411.03807v1

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Method	Publish	ape	bvise	cam	can	cat	driller	duck	eggbox*	glue*	holep	iron	lamp	phone	avg
SSD-6D[53]	[ICCV 2017]	65.0	80.0	78.0	86.0	70.0	73.0	66.0	100.0	100.0	49.0	78.0	73.0	79.0	76.7
Pix2Pose[44]	[ICCV 2019]	58.1	91.0	60.9	84.4	65.0	76.3	43.8	96.8	79.4	74.8	83.4	82.0	45.0	72.4
DPOD[56]	[ICCV 2019]	53.3	95.2	90.0	94.1	60.4	97.4	66.0	99.6	93.8	64.9	99.8	88.1	71.4	82.6
CDPN[13]	[ICCV 2019]	64.4	97.8	91.7	95.9	83.8	96.2	66.8	99.7	99.6	85.8	97.9	97.9	90.8	89.9
Cai[55]	[CVPR 2020]	52.9	96.5	87.8	86.8	67.3	88.7	54.7	94.7	91.9	75.4	94.5	96.6	89.2	82.9
Lienet[54]	[TCDS 2022]	38.8	71.2	52.5	86.1	66.2	82.3	32.5	79.4	63.7	56.4	65.1	89.4	65.0	65.2
PVNet[57]	[CVPR 2022]	43.6	99.9	86.9	95.5	79.3	96.4	52.6	99.2	95.7	81.9	98.9	99.3	92.4	86.3
OnePose[58]	[CVPR 2022]	11.8	92.6	88.1	77.2	47.9	74.5	34.2	71.3	37.5	54.9	89.2	87.6	60.6	63.6
OnePose++[59]	[NeurIPS 2022]	31.2	97.3	88.0	89.8	70.4	92.5	42.3	99.7	48.0	69.7	97.4	97.8	76.0	76.9
NeRF-Pose[37]	[ICCVW 2023]	69.4	99.4	98.3	97.8	77.8	99.6	69.7	99.9	98.9	89.4	99.8	99.8	94.8	91.8
GS-Pose[2]	[Arxiv 2024]	71.0	99.8	98.2	97.7	86.7	96.2	77.2	99.6	98.4	87.4	99.2	98.9	85.0	92.0
GS2pose		95.4(24.4 $\uparrow$ )	99.2	97.4	95.1	93.2(6.5 $\uparrow$ )	95.3	83.8(6.6 $\uparrow$ )	100.0	98.4	93.5(4.1 $\uparrow$ )	94.7	93.9	95.0(0.2 $\uparrow$ )	95.0(3.0 $\uparrow$ )