方法

指标

DPOD [7]

Sundermeyer [8]

EPOS [14]

Ours

RGB

RGB-D

w/o DS

w/DS

w/BBs

${\text{AR}}_{\text{VSD}}$

-

-

-

-

42.34

42.72

43.87

${\text{AR}}_{\text{MSSD}}$

-

-

-

-

46.89

47.67

48.12

${\text{AR}}_{\text{MSPD}}$

13.9

50.4

51.4

63.5

68.32

69.13

70.52

$\text{AR}$

8.1

30.4

48.7

47.6

52.52

53.13

54.17