# Reviewing 6D Pose Estimation: Model Strengths, Limitations, and Application Fields
## 6 Analysis
### Model Strengths and Limitations  
To provide a comprehensive understanding of the various 6D pose estimation models analyzed in this study, we have systematically categorized their strengths and limitations \begin{table}
\begin{tabular}{l c c c c c c} \hline \hline
**Model** & **Symmetries** & \begin{tabular}{c} **Multi** \\ **Objects** \\ \end{tabular} & \begin{tabular}{c} **Same** \\ **Objects** \\ \end{tabular} & \begin{tabular}{c} **Transparent** \\ **Objects** \\ \end{tabular} & \
\begin{tabular}{c} **Shape** \\ **Objects** \\ \end{tabular} &
\begin{tabular}{c} **Occlusion** \\ \end{tabular} \\ \[PERSON] et al. [36] & ✓ & ✓ & & & & ✓ \\ GDR-NET [25] & ✓ & ✓ & & & & ✓ \\ DCL-Net [67] & ✓ & ✓ & & & & ✗ \\ EFro-PnP [52] & ✓ & ✓ & & & & ✗ \\ RANSAC Voting [72] & ✓ & ✓ & & & & ✗ \\ FS6D-DPM [28] & ✓ & ✗ & ✗ & ✗ & ✗ & ✗ \\ GPV-Pose [29] & ✓ & ✗ & ✗ & & ✗ & ✗ \\ [PERSON] et al. [35] & ✓ & ✗ & & & ✓ & ✓ \\ OVE6D [31] & ✓ & ✗ & & ✓ & & ✓ \\ PoET [43] & ✓ & & ✗ & & ✓ \\ [PERSON] et al. [70] & ✓ & & & ✓ & ✓ \\ Primitive Pose [71] & ✓ & & & ✓ & ✓ \\ PVNet [32] & ✓ & & & ✓ & ✓ \\ Sc6D [33] & ✓ & & & ✓ & ✓ \\ ZebraPose [37] & ✓ & & & ✓ & ✓ \\ GENeD [38] & & & & ✓ & \\ CRT-6D [41] & ✓ & & & ✓ & \\ [PERSON] et al. [46] & ✓ & & & ✓ & ✓ \\ StereoPose [82] & ✓ & & & & ✓ \\ DR-Pose [76] & ✓ & & & & ✓ \\ PLuM [47] & ✓ & & & & ✓ \\ \hline \hline \end{tabular}
\end{table} 
Table 19: Model Capabilities (Part II). \begin{table}
\begin{tabular}{l c c c c c c} \hline \hline
**Model** & **Symmetries** & \begin{tabular}{c} **Multi** \\ **Objects** \\ \end{tabular} & \begin{tabular}{c} **Same** \\ **Objects** \\ \end{tabular} & \begin{tabular}{c} **Transparent** \\ **Objects** \\ \end{tabular} & \
\begin{tabular}{c} **Shape** \\ **Objects** \\ \end{tabular} &
\begin{tabular}{c} **Occlusion** \\ \end{tabular} \\ \hline [PERSON] et al. [36] & ✓ & ✓ & & & & ✓ \\ GDR-NET [25] & ✓ & ✓ & & & ✓ \\ DCL-Net [67] & ✓ & ✓ & & & ✗ \\ EFro-PnP [52] & ✓ & ✓ & & & ✗ \\ RANSAC Voting [72] & ✓ & ✓ & & & ✗ \\ FS6D-DPM [28] & ✓ & ✗ & ✗ & ✗ & ✗ & ✗ \\ GPV-Pose [29] & ✓ & ✗ & ✗ & & ✗ & ✗ \\ [PERSON] et al. [35] & ✓ & ✗ & & & ✓ & ✓ \\ OVE6D [31] & ✓ & ✗ & & ✓ & ✓ \\ PoET [43] & ✓ & & ✗ & & ✓ \\ [PERSON] et al. [70] & ✓ & & & ✓ & ✓ \\ Primitive Pose [71] & ✓ & & & ✓ & ✓ \\ PVNet [32] & ✓ & & & ✓ & ✓ \\ Sc6D [33] & ✓ & & & ✓ & ✓ \\ ZebraPose [37] & ✓ & & & ✓ & ✓ \\ GENeD [38] & & & & ✓ & \\ CRT-6D [41] & ✓ & & & ✓ & \\ [PERSON] et al. [46] & ✓ & & & ✓ & ✓ \\ StereoPose [82] & ✓ & & & ✓ & ✓ \\ DR-Pose [76] & ✓ & & & ✓ \\ PLuM [47] & ✓ & ✓ & & ✓ & ✓ \\ \hline \hline \end{tabular}
\end{table} 
Table 18: _Cont._into five distinct categories. This classification facilitates a clearer comparison of the models by highlighting recurring themes and common challenges across different approaches. The strengths presented in Tables 20 and 21 are grouped into five categories:  
1. **Accuracy and Performance (A&P)**: This category includes strengths that emphasize high precision, superior performance metrics, and advancements over existing state-of-the-art methods. Examples include \"high accuracy\", \"validated performance\", and \"superior performance compared to state-of-the-art methods.\"
2. **Robustness and Generalization (R&G)**: This encompasses strengths related to the method's ability to handle challenging scenarios such as occlusions, symmetries, and varying environmental conditions. It also includes the capacity to generalize well across different datasets and real-world applications. Examples are \"robustness to occlusions\", \"handling symmetries\", and \"generalization to real-world scenarios\". 3. **Efficiency and Real-Time Capability (E&R)**: Strengths under this category focus on computational efficiency, speed of inference, and suitability for real-time applications. This is crucial for deployment in time-sensitive environments like robotics and augmented reality. Examples include \"real-time performance\", \"fast inference\", and \"computational efficiency.\"
4.