BOP Challenge 2019/2020 – YCB-Video

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 0.861 0.831 0.903 0.849 2.736
2020-08-18 CosyPose-ECCV20-SYNT+REAL-8VIEWS RGB 0.853 0.795 0.885 0.880 0.285
2020-08-18 CosyPose-ECCV20-SYNT+REAL-4VIEWS RGB 0.840 0.784 0.869 0.866 0.318
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.821 0.772 0.842 0.850 0.241
2020-08-17 Pix2Pose-BOP20_w/ICP-ICCV19 RGB-D 0.780 0.766 0.817 0.758 2.590
2020-08-19 Koenig-Hybrid-DL-PointPairs RGB-D 0.701 0.778 0.690 0.635 2.483
2020-03-29 EPOS-CVPR20 RGB 0.696 0.626 0.677 0.783 0.572
2019-10-18 Pix2Pose-BOP19_w/ICP-ICCV19 RGB-D 0.675 0.693 0.703 0.630 2.106
2020-08-19 CDPNv2_BOP20 (RGB-only & ICP) (bbox) RGB-D 0.619 0.590 0.701 0.565 0.637
2019-10-05 gao-cloudpose19 D 0.588 0.540 0.687 0.536 -1.000
2020-08-18 CosyPose-ECCV20-PBR-1VIEW RGB 0.574 0.516 0.554 0.653 0.342
2020-08-19 leaping from 2D to 6D (ycbv) RGB 0.543 0.443 0.499 0.687 0.132
2020-08-18 CDPNv2_BOP20 (RGB-only) (Zhigang-CDPNv2 (MODE 1, FCOS)) RGB 0.532 0.396 0.570 0.631 0.143
2020-08-19 CDPNv2_BOP20 (PBR-only & ICP) RGB-D 0.532 0.511 0.603 0.483 1.034
2019-10-14 Félix&Neves-ICRA2017-IET2019 RGB-D 0.510 0.708 0.438 0.384 54.509
2019-10-22 Sundermeyer-IJCV19+ICP RGB-D 0.505 0.460 0.581 0.475 1.581
2020-08-19 EPOS-BOP20-PBR RGB 0.499 0.411 0.464 0.621 0.764
2020-08-18 Pix2Pose-BOP20-ICCV19 RGB 0.457 0.372 0.429 0.571 1.025
2020-08-14 CDPN_BOP19 (RGB-only) RGB 0.457 0.329 0.478 0.564 0.208
2019-10-22 Vidal-Sensors18 D 0.450 0.623 0.380 0.347 3.719
2019-10-22 Zhigang-CDPN-ICCV19 (Zhigang-CDPN-ICCV19) RGB 0.422 0.319 0.434 0.512 0.295
2020-08-19 CDPNv2_BOP20 (PBR-only & RGB-only) (Zhigang-CDPNv2 (MODE 2, FCOS)) RGB 0.390 0.260 0.399 0.511 0.448
2019-10-22 Sundermeyer-IJCV19 RGB 0.377 0.307 0.413 0.410 0.179
2019-08-22 Drost-CVPR10-Edges RGB-D 0.375 0.537 0.313 0.275 37.878
2019-08-20 Drost-CVPR10-3D-Only D 0.344 0.474 0.295 0.263 6.270
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.330 0.469 0.279 0.244 1.282
2019-08-21 Drost-CVPR10-3D-Edges D 0.316 0.454 0.261 0.233 37.479
2020-08-19 PointVoteNet2 (YCBV-PVN2-E6-HALF) RGB-D 0.308 0.444 0.260 0.219 -1.000
2020-08-18 SingleMultiPathEncoder-CVPR20 RGB 0.289 0.279 0.297 0.292 0.181
2019-10-10 DPOD (synthetic) RGB 0.222 0.196 0.216 0.256 0.341