Approaches

LM-O

T-less

Pipes

AR

AR

AR

CDPN [13]

0.624

0.407

0.413

CosyPose [14]

0.633

0.640

0.530

Epos-resnet [15]

0.332

0.230

0.214

Epos-xc65

0.547

0.467

0.441

Ours

0.612

0.651

0.579