# Reviewing 6D Pose Estimation: Model Strengths, Limitations, and Application Fields
## 6 Analysis
### Model Strengths and Limitations
\begin{table}
\begin{tabular}{l c c c c c} \hline \hline
**Model** & **D\&MD** & **LG\&R** & **CC\&EC** & **NES\&LB** & **A\&MR** \\ \hline [PERSON] et al. [4] & ✓ & ✓ & & & & & \\ SSD6D [6] & & & ✓ & & & ✓ & ✓ \\ BB8 [5] & ✓ & ✓ & & & & \\ PoseCNN [7] & ✓ & ✓ & & & & ✓ \\ DeepIM [61] & ✓ & & ✓ & & & \\ DPOD [12] & ✓ & ✓ & & & ✓ & \\ Pix2 Pose [10] & ✓ & & & & ✓ & ✓ \\ [PERSON] et al. [58] & ✓ & & & ✓ & \\ Compressed YOLO-6D [40] & ✓ & & ✓ & & & \\ CDPN [8] & ✓ & & & ✓ & & \\ CullNet [9] & ✓ & ✓ & ✓ & & & \\ DeepVCP [59] & & & ✓ & & & \\ PoseRBPF [11] & ✓ & ✓ & & & ✓ & \\ YOLO-6D+ [17] & ✓ & ✓ & ✓ & & & ✓ \\ G2L-Net [15] & ✓ & & & & ✓ \\ CosyPose [14] & ✓ & & & & ✓ & ✓ \\ HybridPose [16] & ✓ & ✓ & & & ✓ & ✓ \\ EPOS [62] & ✓ & ✓ & ✓ & & & ✓ \\ AAE [13] & ✓ & ✓ & & & ✓ & \\ Autonomous Mooring Model [60] & ✓ & ✓ & & ✓ & & \\ LatentFusion [63] & ✓ & ✓ & & & & \\ Self6D [64] & ✓ & ✓ & & & & \\ SO-Pose [23] & ✓ & ✓ & & & & ✓ \\ [PERSON] et al. [68] & ✓ & & & & ✓ & ✓ \\ ASPP-DF-PVNet [18] & & ✓ & & & & ✓ \\ BundleTrack [19] & ✓ & ✓ & ✓ & & & \\ Category Level Metric Scale & & & & & & \\ Object Shape and Pose & ✓ & & & & & \\ Estimation [65] & & & & & & \\ CloudAAE [20] & ✓ & & & & & ✓ \\ FS-Net [21] & ✓ & & & & & ✓ \\ \hline \hline \end{tabular}
\end{table} 
Table 22: Model limitations classification (Part I). \begin{table}
\begin{tabular}{l c c c c} \hline \hline
**Model** & **A\&P** & **R\&G** & **E\&R** & **S\&F** & **M\&AI** \\ \hline MSDA [79] & ✓ & ✓ & & & ✓ & ✓ \\ C2 FNET [75] & ✓ & ✓ & ✓ & & & \\ Improved PVNet 2 [78] & ✓ & ✓ & & & & ✓ \\ [PERSON] et al. [48] & ✓ & ✓ & ✓ & & & \\ SE-UF-PVNet [49] & ✓ & ✓ & ✓ & & ✓ \\ Improved PVNet [45] & ✓ & ✓ & ✓ & & \\ SASA-PVNet [80] & ✓ & ✓ & & & \\ [PERSON] et al. [54] & ✓ & ✓ & ✓ & & ✓ \\ [PERSON] et al. [87] & ✓ & ✓ & ✓ & & ✓ & ✓ \\ Cos-PVNet [51] & & ✓ & & & \\ Focal Segmentation [53] & ✓ & ✓ & & & \\ [PERSON] et al. [85] & & ✓ & & ✓ & \\ Lite-HRPE [55] & ✓ & & ✓ & & \\ BSAM-PVNet [50] & ✓ & ✓ & ✓ & & \\ RNNPose [86] & ✓ & ✓ & & ✓ & ✓ \\ YOLOX-6D-Pose [56] & & ✓ & ✓ & ✓ & ✓ \\ IFFNeRF [56] & ✓ & ✓ & ✓ & ✓ & ✓ \\ \hline \hline \end{tabular}
\end{table} 
Table 21: _Cont._ \begin{table}
\begin{tabular}{l c c c c c c} \hline \hline
**Model** & **D\&MD** & **LG\&R** & **CC\&EC** & **NES\&LB** & **A\&MR** \\ \hline \hline \multicolumn{7}{l}{} \\ \hline EPro-PnP [52] & & & & & & & ✓ \\ RANSAC Voting [72] & & & ✓ & ✓ & & & ✓ \\ F56D-DPM [28] & ✓ & & & & & \\ GPV-Pose [29] & ✓ & & & & & \\ [PERSON] et al. [35] & & & & & ✓ & \\ OVE6D [31] & ✓ & & & & & ✓ \\ PoET [43] & & ✓ & & & & ✓ \\ [PERSON] et al. [70] & ✓ & & & & ✓ & \\ Primitive Pose [71] & ✓ & ✓ & & & ✓ & \\ PVNet [32] & ✓ & ✓ & & & & \\ SG6D [33] & & & ✓ & & & \\ ZebraPose [37] & & & & & ✓ & \\ GEN6D [37] & ✓ & ✓ & ✓ & & ✓ & ✓ \\ CRT-6D [41] & ✓ & ✓ & & & ✓ \\ [PERSON] et al. [46] & & & & & ✓ & ✓ \\ StereoPose [82] & ✓ & ✓ & & & & \\ DR-Pose [76] & & ✓ & & & ✓ & \\ PLuM [47] & ✓ & ✓ & ✓ & & ✓ \\
3 DNEL [73] & ✓ & & & & ✓ & ✓ \\ Yolo 7 [84] & & ✓ & & & ✓ & ✓ \\ Improved CDPN [77] & & ✓ & & & & ✓ \\ DFTr network [42] & & ✓ & ✓ & & & \\ SwinDePose [83] & ✓ & ✓ & ✓ & & & \\ [PERSON] et al. [39] & ✓ & ✓ & & ✓ & & \\ HS-Pose [44] & ✓ & & & & & \\ MSDA [79] & ✓ & & & & & \\ CZFNET [75] & ✓ & ✓ & ✓ & & & \\ Improved PVNet 2 [78] & ✓ & & & & ✓ & \\ [PERSON] et al. [48] & ✓ & & & & ✓ & ✓ \\ SE-UF-PVNet [49] & & & & ✓ & & \\ Improved PVNet [45] & & & & ✓ & & \\ SASA-PVNet [80] & & ✓ & & & & \\ [PERSON] et al. [54] & ✓ & ✓ & & & & \\ [PERSON] et al. [87] & & & ✓ & & & \\ CoS-PVNet [51] & & & ✓ & & & \\ Focal Segmentation [53] & & & ✓ & & & \\ \hline \hline \end{tabular}
\end{table} 
Table 22: _Cont._