| 方法 类别 | Tekin [5] | PoseCNN [4] | Oberweger [13] | PVNet [6] | Ours | ||
| w/o DS | w/DS | w/BBs | |||||
| ape | 7.01 | 34.6 | 69.6 | 69.14 | 71.45 | 73.29 | 75.43 |
| can | 11.20 | 15.1 | 82.6 | 86.09 | 84.88 | 85.96 | 88.89 |
| cat | 3.62 | 10.4 | 65.1 | 65.12 | 69.36 | 71.25 | 72.42 |
| duck | 5.07 | 31.8 | 61.4 | 61.44 | 64.14 | 65.12 | 67.50 |
| driller | 1.40 | 7.4 | 73.8 | 73.06 | 75.44 | 77.21 | 79.67 |
| eggbos* | - | 1.9 | 13.1 | 8.43 | 9.33 | 9.96 | 10.89 |
| glue* | 4.70 | 13.8 | 54.9 | 55.37 | 46.29 | 48.67 | 51.29 |
| holepuncher | 8.26 | 23.1 | 66.4 | 69.84 | 80.01 | 82.11 | 84.50 |
| mean | 6.16 | 17.2 | 60.9 | 61.06 | 62.61 | 64.20 | 66.32 |