BOP Challenge 2019/2020 – Doumanoglou et al.

The performance scores are defined in the challenge description. The reported time is the average estimation time per image.

Date (UTC) Submission Test image AR ARVSD ARMSSD ARMSPD Time (s)
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW-ICP RGB-D 0.647 0.624 0.652 0.666 11.358
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.583 0.515 0.559 0.675 0.678
2020-08-18 CosyPose-ECCV20-PBR-1VIEW RGB 0.583 0.515 0.559 0.675 0.673
2020-08-18 CDPNv2_BOP20 (RGB-only) (Zhigang-CDPNv2 (MODE 1, FCOS)) RGB 0.473 0.399 0.438 0.582 1.856
2020-08-19 CDPNv2_BOP20 (PBR-only & RGB-only) (Zhigang-CDPNv2 (MODE 2, FCOS)) RGB 0.473 0.399 0.438 0.582 1.856
2020-08-19 CDPNv2_BOP20 (PBR-only & ICP) (icpv4) RGB-D 0.450 0.433 0.458 0.459 2.540
2020-08-19 CDPNv2_BOP20 (RGB-only & ICP) (icpv4) RGB-D 0.450 0.433 0.458 0.459 2.540
2020-08-19 Koenig-Hybrid-DL-PointPairs RGB-D 0.430 0.573 0.373 0.346 0.521
2019-10-22 Vidal-Sensors18 D 0.393 0.505 0.353 0.322 1.241
2020-08-17 Pix2Pose-BOP20_w/ICP-ICCV19 RGB-D 0.390 0.411 0.384 0.374 3.696
2019-07-31 Drost-CVPR10-3D-Only D 0.388 0.501 0.344 0.320 4.063
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.377 0.497 0.328 0.305 0.474
2019-10-18 Pix2Pose-BOP19_w/ICP-ICCV19 RGB-D 0.376 0.407 0.368 0.352 2.339
2019-08-05 Drost-CVPR10-3D-Edges D 0.373 0.504 0.322 0.294 23.718
2019-08-12 Drost-CVPR10-Edges RGB-D 0.368 0.491 0.320 0.293 26.888
2020-08-19 EPOS-BOP20-PBR RGB 0.363 0.300 0.323 0.465 5.140
2020-08-19 leaping from 2D to 6D (icbin_0820) RGB 0.342 0.251 0.270 0.505 0.152
2020-08-17 CDPN_BOP19 (RGB-only) RGB 0.327 0.255 0.280 0.447 1.009
2019-10-14 Félix&Neves-ICRA2017-IET2019 RGB-D 0.323 0.434 0.283 0.251 126.298
2019-10-14 Sundermeyer-IJCV19+ICP RGB-D 0.281 0.276 0.281 0.286 0.556
2020-08-19 PointVoteNet2 (ICBIN-PVN2-E6) RGB-D 0.264 0.381 0.217 0.194 -1.000
2019-10-22 Zhigang-CDPN-ICCV19 (Zhigang-CDPN-ICCV19) RGB 0.257 0.219 0.233 0.319 0.733
2020-08-18 Pix2Pose-BOP20-ICCV19 RGB 0.226 0.164 0.179 0.336 1.149
2019-10-14 Sundermeyer-IJCV19 RGB 0.217 0.181 0.186 0.285 0.197
2020-08-18 SingleMultiPathEncoder-CVPR20 RGB 0.175 0.170 0.142 0.213 0.200
2019-10-12 DPOD (synthetic) RGB 0.130 0.098 0.108 0.185 0.249