Benchmarking pose estimation for robot manipulation

Antti Hietanen*, Jyrki Latokartano, Alessandro Foi, Roel Pieters, Ville Kyrki, Minna Lanz, Joni Kristian Kämäräinen

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

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Robot grasping and manipulation require estimation of 3D object poses. Recently, a number of methods and datasets for vision-based pose estimation have been proposed. However, it is unclear how well the performance measures developed for visual pose estimation predict success in robot manipulation. In this work, we introduce an approach that connects error in pose and success in robot manipulation, and propose a probabilistic performance measure of the task success rate. A physical setup is needed to estimate the probability densities from real world samples, but evaluation of pose estimation methods is offline using captured test images, ground truth poses and the estimated densities. We validate the approach with four industrial manipulation tasks and evaluate a number of publicly available pose estimation methods. The popular pose estimation performance measure, Average Distance of Corresponding model points (ADC), does not offer any quantitatively meaningful indication of the frequency of success in robot manipulation. Our measure is instead quantitatively informative: e.g., a score of 0.24 corresponds to average success probability of 24%.

Original languageEnglish
Article number103810
Number of pages10
JournalRobotics and Autonomous Systems
Publication statusPublished - Sep 2021
MoE publication typeA1 Journal article-refereed


  • Evaluation
  • Object pose estimation
  • Robot manipulation


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