# Reviewing 6D Pose Estimation: Model Strengths, Limitations, and Application Fields
## 6 Analysis
### Model Strengths and Limitations
These restrictions often stem from specific architectural choices or methodological dependencies, which can hinder the method's ability to adapt to varying conditions or improve upon its limitations. These categories address the common obstacles faced by models, including reliance on specific types of data or external modules, difficulties in generalizing to unseen scenarios, high computational demands, insufficient evaluation across diverse datasets, and inherent design limitations that restrict adaptability. This structured classification not only highlights the current state of 6D pose estimation models but also identifies critical areas for future research and development. By systematically evaluating both strengths and limitations, researchers can better understand the trade-offs involved in different approaches and make informed decisions when selecting or designing models for specific applications. \begin{table}
\begin{tabular}{l c c c c c} \hline \hline
**Model** & **A\&P** & **R\&G** & E\&R & S\&F & **M\&AI** \\ \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] & ✓ & ✓ & ✓ & ✓ & ✓ \\ \hline \hline \end{tabular}
\end{table} 
Table 20: Model strengths classification (Part I). \begin{table}
\begin{tabular}{l c c c c c} \hline \hline
**Model** & **A\&P** & **R\&G** & E\&R & S\&F & M\&AI \\ \hline EPOS [62] & ✓ & ✓ & ✓ & ✓ & ✓ & ✓ \\ AAE [13] & ✓ & ✓ & ✓ & ✓ & ✓ \\ Autonomous Mooring Model [60] & ✓ & ✓ & ✓ & ✓ & ✓ \\ LatentFusion [63] & & ✓ & & ✓ & ✓ \\ Self6D [64] & ✓ & ✓ & & & ✓ \\ FFB6D [25] & ✓ & ✓ & ✓ & & ✓ \\ SO-Pose [23] & ✓ & ✓ & ✓ & ✓ & \\ [PERSON] et al. [68] & ✓ & & ✓ & ✓ & \\ ASPP-DF-PVNet [18] & & ✓ & & & ✓ \\ BundleTrack [19] & ✓ & ✓ & ✓ & ✓ & ✓ \\ Category Level ([PERSON] et al. [65]) & ✓ & ✓ & & & \\ CloudAAE [20] & ✓ & ✓ & ✓ & ✓ & ✓ \\ FS-Net [21] & ✓ & ✓ & ✓ & ✓ & ✓ \\ Multistream ValidNet [74] & ✓ & ✓ & & ✓ & ✓ \\ [PERSON] et al. [69] & ✓ & ✓ & & ✓ & ✓ \\ RePOSE [22] & ✓ & ✓ & ✓ & ✓ & ✓ \\ [PERSON] et al. [24] & ✓ & ✓ & ✓ & ✓ & ✓ \\ DPOPV2 [27] & ✓ & ✓ & ✓ & ✓ & ✓ \\ ConvPoseCNN2 [66] & ✓ & & ✓ & & ✓ \\ [PERSON] et al. [81] & ✓ & ✓ & & ✓ & ✓ \\ SSP-Pose [34] & ✓ & ✓ & ✓ & ✓ & ✓ \\ MV6D [30] & ✓ & ✓ & ✓ & ✓ & ✓ \\ [PERSON] et al. [36] & ✓ & ✓ & & ✓ & ✓ \\ GDR-NET [25] & ✓ & ✓ & ✓ & ✓ & ✓ \\ DCL-Net [67] & ✓ & ✓ & & & ✓ \\ EPro-PnP [52] & ✓ & & & ✓ & ✓ \\ RANSAC Voting [72] & ✓ & ✓ & & & ✓ \\ FS6D-DPM [28] & ✓ & ✓ & & ✓ & \\ GPV-Pose [29] & ✓ & ✓ & ✓ & & \\ [PERSON] et al. [35] & ✓ & ✓ & & & \\ OVE6D [31] & ✓ & ✓ & ✓ & ✓ & ✓ \\ \hline \hline \end{tabular}
\end{table} 
Table 21: Model strengths classification (Part II). \begin{table}
\begin{tabular}{l c c c c c} \hline \hline
**Model** & **A\&P** & **R\&G** & E\&R & S\&F & M\&AI \\ \hline PoET [43] & ✓ & & & & & ✓ \\ [PERSON] et al. [70] & ✓ & ✓ & & ✓ & & \\ Primitive Pose [71] & ✓ & ✓ & & & & \\ PVNet [32] & ✓ & ✓ & ✓ & & & \\ SC6D [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] & ✓ & ✓ & ✓ & ✓ & \\ \hline \hline \end{tabular}
\end{table} 
Table 20: _Cont._