Symmetry-Aware 6D Object Pose Estimation via Multitask Learning

Table 1

Quantitative comparison of 6D object pose estimation on the YCB-Video dataset.

Datasets	AUC	<2 cm
PointFusion	78.4	71.8
PoseCNN	87.5	88.0
DenseFusion	90.3	91.6
Ours	90.6	91.6