On the Evaluation of RGB-D-based Categorical Pose and Shape Estimation

Recently, various methods for 6D pose and shape estimation of objects have been proposed. Typically, these methods evaluate their pose estimation in terms of average precision, and reconstruction quality with chamfer distance. In this work we take a critical look at this predominant evaluation protocol including metrics and datasets. We propose a new set of metrics, contribute new annotations for the Redwood dataset and evaluate state-of-the-art methods in a fair comparison. We find that existing methods do not generalize well to unconstrained orientations, and are actually heavily biased towards objects being upright. We contribute an easy-to-use evaluation toolbox with well-defined metrics, method and dataset interfaces, which readily allows evaluation and comparison with various state-of-the-art approaches (see https://github.com/roym899/pose_and_shape_evaluation ).