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Task: Pose estimation (BOP 2019-2022) Detection (BOP 2022) Segmentation (BOP 2022)
Dataset: Core datasets LM LM-O T-LESS ITODD HB HOPE YCB-V RU-APC IC-BIN IC-MI TUD-L TYO-L

Pose estimation (BOP 2019-2022) – Core datasets

This leaderbord shows the overall ranking on the core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). For each method, the date of the latest considered submission is reported. If more submissions of a method are available for a dataset, the submission with the highest ARCore score is considered. The performance scores are defined in the BOP Challenge 2019 description. The reported time is the average image processing time averaged over the core datasets.

Date (UTC) Method Test image ARCore ARLM-O ART-LESS ARTUD-L ARIC-BIN ARITODD ARHB ARYCB-V Time (s)
2022-03-06 PPF_3D_ICP D 0.636 0.776 0.411
2022-07-21 DPODv2 (real train data, RGB) RGB 0.518
2022-10-11 Extended FCOS+PFA-MixPBR-RGBD RGB-D 0.787 0.797 0.850 0.960 0.676 0.469 0.869 0.888 2.317
2022-10-12 Extended FCOS+PFA-MixPBR-RGBD-Fast RGB-D 0.771 0.792 0.779 0.958 0.671 0.460 0.860 0.880 0.639
2022-10-11 Extended FCOS+PFA-PBR-RGB RGB 0.663 0.745 0.719 0.732 0.600 0.353 0.841 0.648 3.497
2022-07-21 DPODv2 (mixed train data, RGB) RGB 0.655
2022-04-25 Coupled Iterative Refinement RGB-D 0.741 0.734 0.776 0.968 0.676 0.381 0.757 0.893
2022-07-21 DPODv2 (synthetic train data, RGB) RGB 0.584 0.714
2020-08-18 CosyPose-ECCV20-PBR-1VIEW RGB 0.570 0.633 0.640 0.685 0.583 0.216 0.656 0.574 0.475
2022-10-16 RCVPose 3D_SingleModel_VIVO_PBR RGB-D 0.768 0.729 0.708 0.966 0.733 0.536 0.863 0.843 1.336
2022-10-13 GDRNPP-PBR-RGB-MModel RGB 0.702 0.713 0.796 0.752 0.623 0.448 0.869 0.713 0.284
2022-10-13 GDRNPP-PBRReal-RGB-MModel RGB 0.728 0.713 0.786 0.831 0.623 0.448 0.869 0.825 0.229
2022-10-13 CRT-6D RGB 0.599 0.660 0.644 0.789 0.537 0.208 0.603 0.752 0.059
2019-08-22 Drost-CVPR10-Edges RGB-D 0.550 0.515 0.500 0.851 0.368 0.570 0.671 0.375 87.568
2022-07-22 OSOP: RGB RGB 0.274 0.464
2022-07-22 OSOP: RGBD RGB-D 0.432 0.581
2019-10-14 Pix2Pose-Original-ICCV19 RGB 0.295
2022-10-15 GDRNPP-PBRReal-RGBD-MModel RGB-D 0.837 0.775 0.874 0.966 0.722 0.679 0.926 0.921 6.263
2022-10-13 GDRNPP-PBRReal-RGBD-MModel-OfficialDet RGB-D 0.798 0.758 0.824 0.966 0.708 0.543 0.890 0.896 6.406
2019-10-22 Sundermeyer-IJCV19+ICP RGB-D 0.398 0.237 0.487 0.614 0.281 0.158 0.506 0.505 0.865
2022-10-14 GDRNPP-PBRReal-RGBD-SModel RGB-D 0.748 0.757 0.856 0.906 0.680 0.356 0.864 0.817 0.556
2022-10-12 SFM-TransferTech D 0.481
2020-08-19 EPOS-BOP20-PBR RGB 0.457 0.547 0.467 0.558 0.363 0.186 0.580 0.499 1.874
2021-12-03 FFB6D RGB-D 0.497
2022-10-14 GDRNPP-PBRReal-RGBD-MModel-Fast RGB-D 0.805 0.792 0.872 0.936 0.702 0.588 0.909 0.834 0.228
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.454 0.492 0.405 0.696 0.377 0.274 0.603 0.330 1.383
2019-10-17 gao-cloudpose19plus D 0.510
2022-10-15 ZebraPose-SAT RGB 0.710 0.721 0.787 0.861 0.549 0.379 0.847 0.828
2020-08-18 CosyPose-ECCV20-SYNT+REAL-4VIEWS RGB 0.801 0.696 0.840
2019-10-18 Pix2Pose-BOP19_w/ICP-ICCV19 RGB-D 0.376 0.675
2021-09-09 Sundermeyer-IJCV19 RGB 0.280 0.146 0.304 0.401 0.217 0.101 0.346 0.446 0.196
2022-10-15 ZebraPoseSAT-EffnetB4 (DefaultDetection) RGB 0.720 0.707 0.768 0.849 0.597 0.417 0.887 0.816 0.250
2022-10-15 ZebraPoseSAT-EffnetB4 + ICP (DefaultD... RGB-D 0.765 0.752 0.727 0.948 0.652 0.527 0.883 0.866 0.500
2019-10-22 Vidal-Sensors18 D 0.569 0.582 0.538 0.876 0.393 0.435 0.706 0.450 3.220
2019-10-22 Zhigang-CDPN-ICCV19 RGB 0.353 0.374 0.124 0.757 0.257 0.070 0.470 0.422 0.513
2019-10-16 gao-cloudpose19 D 0.208 0.588
2020-08-18 Pix2Pose-BOP20-ICCV19 RGB 0.342 0.363 0.344 0.420 0.226 0.134 0.446 0.457 1.215
2021-12-22 SurfEmb-PBR-RGB RGB 0.650 0.663 0.735 0.715 0.588 0.413 0.791 0.647 8.891
2021-12-22 SurfEmb-PBR-RGBD RGB-D 0.758 0.760 0.828 0.854 0.659 0.538 0.866 0.799 9.048
2021-12-27 FFB6D-CVPR21-PBR-NoRefinement RGB-D 0.687 0.758
2021-12-27 FFB6D-CVPR21-SYNT+REAL-NoRefinement RGB-D 0.855
2022-12-17 SMPose RGB-D 0.725 0.894
2020-08-19 CDPNv2_BOP20 (PBR-only & RGB-only) RGB 0.472 0.624 0.407 0.588 0.473 0.102 0.722 0.390 0.978
2022-03-06 RCVPose RGB-D 0.749 0.859
2022-10-15 ZebraPose RGB 0.718 0.775 0.861 0.346 0.856 0.815
2020-03-09 W-PoseNet w/ICP RGB-D 0.707 0.779
2023-03-09 FFB6D-PBR+Real RGB-D 0.677
2022-06-16 TSR RGB-D 0.502
2020-08-19 PointVoteNet2 RGB-D 0.351 0.653 0.004 0.673 0.264 0.001 0.556 0.308
2022-04-01 XYZ-SurfaceMatching D 0.471
2020-03-29 EPOS-CVPR20 RGB 0.443 0.476 0.696
2022-04-24 Coupled Iterative Refinement (RGB) RGB 0.655 0.715 0.824
2020-08-11 PVNet-CVPR19+ICP RGB-D 0.638
2019-10-22 Félix&Neves-ICRA2017-IET2019 RGB-D 0.412 0.394 0.212 0.851 0.323 0.069 0.529 0.510 55.780
2020-07-20 G2L1 RGB-D 0.760
2020-06-12 Pix2Pose-BOP19-PBR RGB 0.281
2020-08-19 CDPNv2_BOP20 (PBR-only & ICP) RGB-D 0.534 0.630 0.435 0.791 0.450 0.186 0.712 0.532 1.491
2020-08-19 CDPN_BOP19 (RGB-only) RGB 0.479 0.569 0.490 0.769 0.327 0.067 0.672 0.457 0.480
2020-08-11 PVNet-CVPR19 RGB 0.575
2022-08-09 SC6D RGB 0.780 0.303 0.765
2020-08-19 CDPNv2_BOP20 (RGB-only & ICP) RGB-D 0.568 0.630 0.464 0.913 0.450 0.186 0.712 0.619 1.462
2022-10-15 GDRNPP-PBR-RGBD-MModel RGB-D 0.827 0.775 0.852 0.929 0.722 0.679 0.926 0.906 6.264
2020-08-19 SingleMultiPathEncoder-CVPR20 RGB 0.241 0.217 0.310 0.334 0.175 0.067 0.293 0.289 0.186
2023-03-10 Magic RGB 0.835
2020-08-17 Pix2Pose-BOP20_w/ICP-ICCV19 RGB-D 0.591 0.588 0.512 0.820 0.390 0.351 0.695 0.780 4.844
2022-07-21 DPODv2 (synthetic train data, RGBD) RGB-D 0.582 0.468
2022-07-28 PFA-cosypose RGB 0.659 0.674 0.738 0.837 0.596 0.246 0.712 0.807
2022-07-21 DPODv2 (synthetic train data, RGB + D... RGB-D 0.700 0.699 0.845
2019-08-20 Drost-CVPR10-3D-Only D 0.487 0.527 0.444 0.775 0.388 0.316 0.615 0.344 7.704
2022-07-21 DPODv2 (real train data, RGB + D Kabsch RGB-D 0.560
2022-10-11 Extended FCOS+PFA-MixPBR-RGB RGB 0.709 0.745 0.778 0.839 0.600 0.353 0.841 0.806 3.019
2019-10-13 DPOD (synthetic) RGB 0.161 0.169 0.081 0.242 0.130 0.000 0.286 0.222 0.231
2022-07-21 DPODv2 (mixed train data, RGB + D Kab... RGB-D 0.720
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.637 0.633 0.728 0.823 0.583 0.216 0.656 0.821 0.449
2020-08-19 CosyPose-ECCV20-SYNT+REAL-1VIEW-ICP RGB-D 0.698 0.714 0.701 0.939 0.647 0.313 0.712 0.861 13.743
2022-10-16 ZebraPoseSAT-EffnetB4 RGB 0.720 0.721 0.806 0.850 0.545 0.410 0.882 0.830 0.250
2020-08-18 CosyPose-ECCV20-SYNT+REAL-8VIEWS RGB 0.839 0.746 0.853
2020-08-19 CDPNv2_BOP20 (RGB-only) RGB 0.529 0.624 0.478 0.772 0.473 0.102 0.722 0.532 0.935
2022-10-12 Extended FCOS+PFA-PBR-RGBD RGB-D 0.762 0.797 0.802 0.893 0.676 0.469 0.869 0.826 2.631
2020-08-19 leaping from 2D to 6D RGB 0.471 0.525 0.403 0.751 0.342 0.077 0.658 0.543 0.425
2020-08-19 Koenig-Hybrid-DL-PointPairs RGB-D 0.639 0.631 0.655 0.920 0.430 0.483 0.651 0.701 0.633
2022-10-16 ZebraPoseSAT-EffnetB4 (PBR_Only) RGB 0.670 0.721 0.723 0.717 0.545 0.410 0.882 0.691
2019-08-21 Drost-CVPR10-3D-Edges D 0.500 0.469 0.404 0.852 0.373 0.462 0.623 0.316 80.055
2022-09-28 ZTE_PPF D 0.578 0.663 0.374 0.904 0.396 0.470 0.735 0.502 0.901
2020-08-20 SSD-6D No Ref RGB 0.139
Latest submissions to this leaderboard: