BOP Challenge 2019/2020 – Linemod-Occluded

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)
2020-08-19 CosyPose-ECCV20-SYNT+REAL-1VIEW-ICP RGB-D 0.714 0.567 0.748 0.826 8.289
2020-08-17 DPODv2 (real train data, RGB + D Kabsch RGB-D 0.702 0.578 0.743 0.783 0.179
2020-08-19 PointVoteNet2 (LMO-PVN2-E6) RGB-D 0.653 0.535 0.699 0.724 -1.000
2020-08-11 PVNet-CVPR19+ICP RGB-D 0.638 0.502 0.683 0.730 -1.000
2020-08-18 CosyPose-ECCV20-PBR-1VIEW RGB 0.633 0.480 0.606 0.812 0.550
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.633 0.480 0.606 0.812 0.548
2020-08-19 Koenig-Hybrid-DL-PointPairs RGB-D 0.631 0.517 0.675 0.703 0.445
2020-08-19 CDPNv2_BOP20 (RGB-only & ICP) (icpv4) RGB-D 0.630 0.469 0.689 0.731 0.506
2020-08-19 CDPNv2_BOP20 (PBR-only & ICP) (icpv4) RGB-D 0.630 0.469 0.689 0.731 0.506
2020-08-18 CDPNv2_BOP20 (RGB-only) (Zhigang-CDPNv2 (MODE 1, FCOS)) RGB 0.624 0.445 0.612 0.815 0.163
2020-08-19 CDPNv2_BOP20 (PBR-only & RGB-only) (Zhigang-CDPNv2 (MODE 2, FCOS)) RGB 0.624 0.445 0.612 0.815 0.163
2020-08-17 DPODv2 (synthetic train data, RGB + D Kabsch) RGB-D 0.592 0.472 0.630 0.672 0.172
2020-08-17 Pix2Pose-BOP20_w/ICP-ICCV19 RGB-D 0.588 0.473 0.631 0.659 5.191
2019-10-22 Vidal-Sensors18 D 0.582 0.473 0.625 0.647 4.002
2020-08-19 DPODv2 (real train data, RGBD) RGB-D 0.576 0.452 0.615 0.661 0.164
2020-08-11 PVNet-CVPR19 RGB 0.575 0.428 0.543 0.754 -1.000
2020-08-14 CDPN_BOP19 (RGB-only) RGB 0.569 0.393 0.537 0.779 0.279
2020-08-17 DPODv2 (real train data, RGB) RGB 0.564 0.410 0.533 0.749 0.170
2020-08-18 Dense multi-view refinement: 4 views RGB 0.562 0.453 0.592 0.640 -1.000
2020-08-17 DPODv2 (synthetic train data, RGBD) RGB-D 0.554 0.434 0.595 0.632 0.156
2020-08-19 EPOS-BOP20-PBR RGB 0.547 0.389 0.501 0.750 0.468
2019-07-31 Drost-CVPR10-3D-Only D 0.527 0.437 0.563 0.581 15.947
2020-08-19 leaping from 2D to 6D (lmo_0820) RGB 0.525 0.350 0.444 0.781 0.939
2019-08-12 Drost-CVPR10-Edges RGB-D 0.515 0.425 0.550 0.569 323.508
2019-10-17 gao-cloudpose19plus D 0.510 0.438 0.504 0.589 -1.000
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.492 0.409 0.525 0.542 3.389
2020-08-18 Dense multi-view refinement: 2 views RGB 0.485 0.372 0.494 0.588 -1.000
2019-08-05 Drost-CVPR10-3D-Edges D 0.469 0.392 0.504 0.511 301.023
2020-03-29 EPOS-CVPR20 RGB 0.443 0.290 0.380 0.659 0.487
2020-08-17 DPODv2 (synthetic train data, RGB) RGB 0.411 0.269 0.351 0.613 0.212
2019-10-14 Félix&Neves-ICRA2017-IET2019 RGB-D 0.394 0.340 0.411 0.430 61.994
2019-10-22 Zhigang-CDPN-ICCV19 (Zhigang-CDPN-ICCV19) RGB 0.374 0.234 0.329 0.558 0.331
2020-08-18 Pix2Pose-BOP20-ICCV19 RGB 0.363 0.233 0.307 0.550 1.310
2020-06-12 Pix2Pose-BOP19-PBR RGB 0.281 0.156 0.210 0.478 1.157
2019-10-21 Sundermeyer-IJCV19+ICP RGB-D 0.237 0.208 0.218 0.285 1.197
2020-08-17 SingleMultiPathEncoder-CVPR20 RGB 0.217 0.150 0.153 0.346 0.200
2019-10-16 gao-cloudpose19 D 0.208 0.221 0.175 0.230 -1.000
2019-10-10 DPOD (synthetic) RGB 0.169 0.101 0.126 0.278 0.172
2019-10-21 Sundermeyer-IJCV19 RGB 0.146 0.090 0.095 0.254 0.201
2020-08-20 SSD-6D No Ref (SSD-6D No Ref) RGB 0.139 0.047 0.083 0.285 -1.000