3DoF / pose components · error

Translation Error

3D Translation Error

Directly measures the 3D distance between predicted and ground-truth object centers.

Answers whether the object is positioned correctly, usually in cm or m; pair it with Rotation Error for a complete 6DoF diagnosis.

Explore principles and formulas View related papers 79

Principle

What error does this metric penalize?

The formulas define the computation. The diagrams show whether the error concerns a 3D model, visible surfaces, the image plane, or aggregation across thresholds.

Translation error compares two 3D positions without model points or rendering.

It is not normalized by object scale: a 5cm error has different implications for a cup and a car.

e_t = \lVert t_{gt} - \hat t \rVert_2

Ensure both translations use the camera frame or the same world frame, and the same units, such as m or mm.

Illustration created for this site to explain the metric's error space; it does not show measured data or a figure from the original paper.

How to compute

Computation steps

01
Align units and coordinate frames.
02
Compute the L2 norm of the difference between the translation vectors.
03
Average according to the dataset protocol, or combine with a rotation threshold to determine success.

Strength

What it is useful for

Simple to compute and useful for diagnosing failures in depth scale, camera intrinsics, or the translation component of PnP.
Unaffected by CAD point sampling or texture conventions.

Caveat

Cautions when reading results

Comparisons without object-size context can mislead; also report normalized model error or success thresholds.
Inconsistent center definitions, such as the mesh origin versus the 3D box center, can create artificial errors.

Paper atlas

Which papers report this metric?

Links are derived by normalizing the metric names used in each paper. Directly reported metrics are distinguished from metrics associated through a broader protocol.

Filter the paper library

79Related papers

79Directly reported

0Linked through a protocol

2026 Directly reported

Aleatoric Uncertainty from AI-based 6D Object Pose Predictors for Object-relative State Estimation

ICRA / IEEE RA-L · Thomas Jantos, Stephan Weiss, Jan Steinbrener

Translation Error

What error does this metric penalize?

Computation steps

What it is useful for

Cautions when reading results

Which papers report this metric?

Aleatoric Uncertainty from AI-based 6D Object Pose Predictors for Object-relative State Estimation

Color-Pair Guided Robust Zero-Shot 6D Pose Estimation and Tracking of Cluttered Objects on Edge Devices

ComPose: A Unified Completion-Pose Framework for Robust Category-Level Object Pose Estimation

DICArt: Advancing Category-level Articulated Object Pose Estimation in Discrete State-Spaces

DKPMV: Dense Keypoints Fusion from Multi-View RGB Frames for 6D Pose Estimation of Textureless Objects

DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarios

Keypoint-Based Dynamic Object 6-DoF Pose Tracking via Event Camera

Event-based Motion & Appearance Fusion for 6D Object Pose Tracking

Event6D: Event-based Novel Object 6D Pose Tracking

GenHOI: Generalized Hand-Object Pose Estimation with Occlusion Awareness

Towards in-the-wild Egocentric 3D Hand-Object Pose Estimation

IndustryShapes: An RGB-D Benchmark Dataset for 6D Object Pose Estimation of Industrial Assembly Components and Tools

InvariantCloud: A Globally Invariant, Uniquely Indexed Point Cloud Framework for Robust 6-DoF Tactile Pose Tracking

KV-Tracker: Real-Time Pose Tracking with Transformers

M-VTOP: Modular Visuo-Tactile Object Pose Estimation for High-Precision Robotic Manipulation

MemPose: Category-level Object Pose Estimation with Memory

Monocular Vehicle Pose and Shape Reconstruction via Dynamic Context Adaptation and Progressive Geometry Refinement

Deep Learning-Based Object Pose Estimation: A Comprehensive Survey

PoseGaussian: 6D Pose Estimation for Unseen Objects via Sparse-View Object-Level 3D Gaussian Splatting

Exploring Category-level Articulated Object Pose Tracking on SE(3) Manifolds

SCAPO: Self-Supervised Category-Level Articulated Pose Estimation from a Single 3D Observation

SE(3)-PoseFlow: Estimating 6D Pose Distributions for Uncertainty-Aware Robotic Manipulation

SE(3)-Equivariance with Geometric and Topological Guidance for Category-Level Object Pose Estimation

Category-Level Object Shape and Pose Estimation in Less Than a Millisecond

Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing

TwinTrack: Bridging Vision and Contact Physics for Real-Time Tracking of Unknown Objects in Contact-Rich Scenes

XYZ-IBD: Benchmarking Robust 6D Object Pose Estimation under Real-World Industrial Complexity

You Only Pose Once: A Minimalist's Detection Transformer for Monocular RGB Category-Level 9D Multi-Object Pose Estimation

6DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splatting

CAP-Net: A Unified Network for 6D Pose and Size Estimation of Categorical Articulated Parts from a Single RGB-D Image

High-Precision Object Pose Estimation Using Visual-Tactile Information for Dynamic Interactions in Robotic Grasping

Environment-Agnostic Pose: Generating Environment-independent Object Representations for 6D Pose Estimation

iFusion: Inverting Diffusion for Pose-Free Reconstruction from Sparse Views

OmniPose6D: Towards Short-Term Object Pose Tracking in Dynamic Scenes from Monocular RGB

PartPose: Attentive 6D Pose Estimation by Focusing on Graspable Parts of Multi-Part Deformable Objects

Category-Level 6D Object Pose Estimation in Agricultural Settings Using a Lattice-Deformation Framework and Diffusion-Augmented Synthetic Data

RayPose: Ray Bundling Diffusion for Template Views in Unseen 6D Object Pose Estimation

RGBTrack: Fast, Robust Depth-Free 6D Pose Estimation and Tracking

SMORE: Simultaneous Map and Object REconstruction

Uncertainty-Aware Knowledge Distillation for Compact and Efficient 6DoF Pose Estimation

Unified Category-Level Object Detection and Pose Estimation from RGB Images using 3D Prototypes

Free-Moving Object Reconstruction and Pose Estimation with Virtual Camera

ViTa-Zero: Zero-Shot Visuotactile Object 6D Pose Estimation

You Only Estimate Once: Unified, One-Stage, Real-Time Category-Level Articulated Object 6D Pose Estimation for Robotic Grasping

Shape From Shading for Robotic Manipulation

Category-level Object Detection, Pose Estimation and Reconstruction from Stereo Images

ContactArt: Learning 3D Interaction Priors for Category-level Articulated Object and Hand Poses Estimation

Neural Implicit Representation for Building Digital Twins of Unknown Articulated Objects

EDOPT: Event-Camera 6-DoF Dynamic Object Pose Tracking

Direct 3D Model-Based Object Tracking with Event Camera by Motion Interpolation

Real-Time 6-DoF Pose Estimation by an Event-Based Camera Using Active LED Markers

FAFA: Frequency-Aware Flow-Aided Self-Supervision for Underwater Object Pose Estimation

FastCAD: Real-Time CAD Retrieval and Alignment from Scans and Videos

Fit-NGP: Fitting Object Models to Neural Graphics Primitives

Few-View Object Reconstruction with Unknown Categories and Camera Poses

GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinement

GS-Pose: Category-Level Object Pose Estimation via Geometric and Semantic Correspondence

HouseCat6D - A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarios

IFFNeRF: Initialisation Free and Fast 6DoF Pose Estimation from a Single Image and a NeRF Model

Towards Co-Evaluation of Cameras, HDR, and Algorithms for Industrial-Grade 6DoF Pose Estimation

L4D-Track: Language-to-4D Modeling Towards 6-DoF Tracking and Shape Reconstruction in 3D Point Cloud Stream

LaPose: Laplacian Mixture Shape Modeling for RGB-Based Category-Level Object Pose Estimation

Living Scenes: Multi-object Relocalization and Reconstruction in Changing 3D Environments

Effects of Markers in Training Datasets on the Accuracy of 6D Pose Estimation

MFOS: Model-Free & One-Shot Object Pose Estimation

Learning Instance-Aware Correspondences for Robust Multi-Instance Point Cloud Registration in Cluttered Scenes

MV-ROPE: Multi-View Constraints for Robust Category-Level Object Pose and Size Estimation

Marrying NeRF with Feature Matching for One-Step Pose Estimation

Omni6D: Large-Vocabulary 3D Object Dataset for Category-Level 6D Object Pose Estimation

Omni6DPose: A Benchmark and Model for Universal 6D Object Pose Estimation and Tracking

OmniNOCS: A Unified NOCS Dataset and Model for 3D Lifting of 2D Objects

OP-Align: Object-level and Part-level Alignment for Self-supervised Category-level Articulated Object Pose Estimation

PACE: A Large-Scale Dataset with Pose Annotations in Cluttered Environments

Confronting Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)