方法

类别

Tekin [5]

PoseCNN [4]

Oberweger [13]

PVNet [6]

Ours

w/o DS

w/DS

w/BBs

ape

2.48

9.6

17.6

15.81

20.57

23.87

25.71

can

17.48

45.2

53.9

63.30

62.81

62.64

64.32

cat

0.67

0.93

3.31

16.68

23.98

24.45

25.15

duck

1.14

19.6

19.2

25.24

60.00

61.98

64.05

driller

7.66

41.4

62.4

65.65

42.22

42.56

42.78

eggbos^*

22

25.9

50.17

37.78

41.55

45.56

glue^*

10.08

38.5

39.6

49.62

65.71

66.03

66.43

holepuncher

5.45

22.1

21.3

39.67

41.00

42.22

44.50

mean

6.42

24.9

30.4

40.77

44.26

45.66

47.31