6DoF pose 估计evaluation metrics 汇总，持续更新~~

转载请注明作者和出处： http://blog.youkuaiyun.com/john_bh/

1. 2D-projection error

2D-projection error measures the average distance between the 2D projections in the image space of the 3D model points, transformed using the ground-truth pose and the predicted pose. The pose estimate is considered to be correct if it is within a selected threshold. 2D-Proj denotes the percentage of correctly estimated poses using a 2D Projection Error threshold set to 5 pixels. For symmetric objects, the 2D projection error is computed against all possible ground truth poses, and the lowest value is used.

2D-projection error 是测量 3D 模型点图像空间中 2D 投影之间的平均距离，使用 ground truth 姿势和预测姿势进行转换。 如果姿态估计在选定的阈值内，则认为姿态估计是正确的。 2D-Proj 表示使用 2D 投影误差阈值设置为 5 像素的正确估计姿势的百分比。 对于对称对象，2D 投影误差是针对所有可能的 ground truth姿态计算的，并使用最小值。

P r o j . 2 D = 1 m ∑ x ∈ M ∣ ∣ K ( R x + t ) − K ( R ^ x + t ^ ) ∣ ∣ Proj.2D = \frac{1}{m}\sum_{x\in M}||K(Rx+t)-K(\hat Rx+\hat t)|| Proj.2D=m1​x∈M∑​∣∣K(Rx+<