Comparative Evaluation of 3D Reconstruction Methods for Object Pose Estimation

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3D reconstructions evaluated with the Average Recall (AR) of Megapose(dashed and dotted) and FoundationPose(uniform) when replacing the CAD models with the reconstructions

average_recall

Most reconstructions exhibit high geometric quality

average_mspd

Runtime of the reconstruction methods

average_mssd

Mesh appearance quality and pose quality

average_vsd