BOP Challenge 2019/2020 – T-LESS

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-8VIEWS RGB 0.839 0.773 0.836 0.907 0.969
2020-08-18 CosyPose-ECCV20-SYNT+REAL-4VIEWS RGB 0.801 0.742 0.795 0.864 0.792
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.728 0.669 0.695 0.821 0.451
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW-ICP RGB-D 0.701 0.587 0.749 0.767 7.367
2020-08-19 Koenig-Hybrid-DL-PointPairs RGB-D 0.655 0.580 0.689 0.696 0.337
2020-08-18 CosyPose-ECCV20-PBR-1VIEW RGB 0.640 0.571 0.589 0.761 0.493
2019-10-22 Vidal-Sensors18 D 0.538 0.464 0.575 0.574 7.063
2020-08-17 Pix2Pose-BOP20_w/ICP-ICCV19 RGB-D 0.512 0.438 0.548 0.549 4.180
2019-08-12 Drost-CVPR10-Edges RGB-D 0.500 0.469 0.512 0.518 70.914
2020-08-19 CDPN_BOP19 (RGB-only) RGB 0.490 0.377 0.418 0.674 0.708
2019-10-22 Sundermeyer-IJCV19+ICP RGB-D 0.487 0.459 0.489 0.514 0.531
2020-08-19 CDPNv2_BOP20 (RGB-only) (CDPNv2_BOP20 (MODE1, FCOS)) RGB 0.478 0.386 0.426 0.620 1.852
2020-03-29 EPOS-CVPR20 RGB 0.476 0.369 0.423 0.635 1.177
2020-08-19 EPOS-BOP20-PBR RGB 0.467 0.380 0.403 0.619 1.992
2020-08-19 CDPNv2_BOP20 (RGB-only & ICP) (cxt) RGB-D 0.464 0.385 0.489 0.516 2.645
2020-08-17 DPODv2 (mixed train data, RGB) RGB 0.449 0.376 0.402 0.569 0.440
2019-07-31 Drost-CVPR10-3D-Only D 0.444 0.375 0.478 0.480 9.204
2020-08-17 DPODv2 (mixed train data, RGB + D Kabsch) RGB-D 0.444 0.370 0.395 0.566 0.226
2020-08-19 CDPNv2_BOP20 (PBR-only & ICP) (icpv4) RGB-D 0.435 0.368 0.449 0.488 2.486
2020-08-14 DPODv2 (real train data, RGB) RGB 0.420 0.362 0.383 0.514 0.310
2020-08-14 DPODv2 (real train data, RGB + D Kabsch RGB-D 0.417 0.360 0.380 0.512 0.181
2020-08-19 CDPNv2_BOP20 (PBR-only & RGB-only) (Zhigang-CDPNv2 (MODE 2, FCOS)) RGB 0.407 0.303 0.338 0.579 1.849
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.405 0.344 0.435 0.436 1.928
2019-08-05 Drost-CVPR10-3D-Edges D 0.404 0.370 0.422 0.420 62.507
2020-08-19 leaping from 2D to 6D (tless) RGB 0.403 0.225 0.271 0.712 0.611
2020-08-14 DPODv2 (synthetic train data, RGB) RGB 0.345 0.275 0.298 0.463 0.407
2020-08-18 Pix2Pose-BOP20-ICCV19 RGB 0.344 0.261 0.296 0.476 1.084
2020-08-14 DPODv2 (synthetic train data, RGB + D Kabsch) RGB-D 0.342 0.271 0.294 0.460 0.206
2020-08-18 SingleMultiPathEncoder-CVPR20 RGB 0.310 0.211 0.224 0.496 0.193
2019-10-11 Sundermeyer-IJCV19 RGB 0.304 0.196 0.211 0.504 0.194
2020-08-17 DPODv2 (synthetic train data, RGBD) RGB-D 0.298 0.277 0.307 0.310 -1.000
2019-10-14 Pix2Pose-Original-ICCV19 RGB 0.295 0.214 0.238 0.432 1.522
2019-10-20 Félix&Neves-ICRA2017-IET2019 RGB-D 0.212 0.206 0.216 0.213 42.417
2019-10-22 Zhigang-CDPN-ICCV19 (Zhigang-CDPN-ICCV19) RGB 0.124 0.048 0.152 0.170 1.381
2019-10-12 DPOD (synthetic) (with instance segmentation) RGB 0.081 0.048 0.055 0.139 0.206
2020-08-19 PointVoteNet2 (TLESS-PVN2-E6-HALF) RGB-D 0.004 0.003 0.005 0.005 -1.000