BOP Challenge 2019/2020 – MVTec ITODD

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)
2019-08-12 Drost-CVPR10-Edges RGB-D 0.570 0.499 0.617 0.596 6.833
2020-08-19 Koenig-Hybrid-DL-PointPairs RGB-D 0.483 0.431 0.520 0.499 0.318
2019-08-05 Drost-CVPR10-3D-Edges D 0.462 0.415 0.494 0.478 5.838
2019-10-22 Vidal-Sensors18 D 0.435 0.414 0.458 0.434 3.419
2020-08-17 Pix2Pose-BOP20_w/ICP-ICCV19 RGB-D 0.351 0.297 0.397 0.359 13.639
2019-07-31 Drost-CVPR10-3D-Only D 0.316 0.286 0.340 0.320 2.000
2020-08-17 CosyPose-ECCV20-SYNT+REAL-1VIEW-ICP RGB-D 0.313 0.282 0.341 0.315 60.314
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.274 0.250 0.297 0.275 0.829
2020-08-18 CosyPose-ECCV20-PBR-1VIEW RGB 0.216 0.172 0.177 0.300 0.569
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.216 0.172 0.177 0.300 0.569
2020-08-19 CDPNv2_BOP20 (PBR-only & ICP) (bbox) RGB-D 0.186 0.168 0.206 0.184 2.879
2020-08-19 CDPNv2_BOP20 (RGB-only & ICP) (bbox) RGB-D 0.186 0.168 0.206 0.184 2.879
2020-08-19 EPOS-BOP20-PBR RGB 0.186 0.143 0.156 0.259 3.849
2019-10-22 Sundermeyer-IJCV19+ICP RGB-D 0.158 0.117 0.141 0.215 0.461
2020-08-18 Pix2Pose-BOP20-ICCV19 RGB 0.134 0.073 0.088 0.242 2.539
2020-08-19 CDPNv2_BOP20 (RGB-only) (Zhigang-CDPNv2 (MODE 1, FCOS)) RGB 0.102 0.059 0.087 0.161 2.187
2020-08-19 CDPNv2_BOP20 (PBR-only & RGB-only) (Zhigang-CDPNv2 (MODE 2, FCOS)) RGB 0.102 0.059 0.087 0.161 2.187
2019-10-22 Sundermeyer-IJCV19 RGB 0.101 0.046 0.050 0.208 0.180
2020-08-19 leaping from 2D to 6D (itodd) RGB 0.077 0.021 0.024 0.186 0.292
2019-10-22 Zhigang-CDPN-ICCV19 (Zhigang-CDPN-ICCV19) RGB 0.070 0.043 0.050 0.115 0.444
2019-10-22 Félix&Neves-ICRA2017-IET2019 RGB-D 0.069 0.050 0.084 0.073 35.487
2020-08-19 SingleMultiPathEncoder-CVPR20 RGB 0.067 0.031 0.031 0.140 0.177
2020-08-14 CDPN_BOP19 (RGB-only) RGB 0.067 0.031 0.044 0.126 0.787
2020-08-19 PointVoteNet2 (ITODD-PVN2-E6-HALF) RGB-D 0.001 0.001 0.000 0.000 -1.000
2019-10-13 DPOD (synthetic) RGB 0.000 0.000 0.000 0.000 0.423