| RNNPose (Trained with synthetic data and LINEMOD training set, w/o pbr data) | 60.65 | RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimization | - |
| DeepIM (Train on Occlusion LineMOD) | 55.5 | DeepIM: Deep Iterative Matching for 6D Pose Estimation | |
| PPC (Refined from initial PVNet pose) | 55.33 | Pose Proposal Critic: Robust Pose Refinement by Learning Reprojection Errors | - |