Symmetry-Aware 6D Object Pose Estimation via Multitask Learning

Table 2

Quantitative comparison of 6D object pose estimation on the ShapeNet dataset.

Datasets	AUC	<2 cm
PointFusion	72.4	68.8
PoseCNN	74.9	73.5
DenseFusion	77.2	79.6
Ours	80.8	82.3