BOP: Benchmark for 6D Object Pose Estimation

Model-based 2D detection of unseen objects – IC-BIN

This leaderbord shows the ranking for Model-based 2D detection of unseen objects on IC-BIN. The metrics are defined in Section 2 of the BOP 2022 paper. The reported time is the average image processing time.

Date (UTC)	Submission	Test image	AP	AP₅₀	AP₇₅	AP_S	AP_M	AP_L	AR₁	AR₁₀	AR₁₀₀	AR_S	AR_M	AR_L	Time (s)
2024-09-18	F3DT2D (test01/blenderproc)	RGB	0.284	0.532	0.288	0.025	0.319	0.466	0.094	0.361	0.383	0.025	0.398	0.660	0.464
2023-11-23	ViewInvDet	RGB	0.268	0.487	0.287	0.027	0.300	0.421	0.095	0.326	0.348	0.026	0.360	0.645	1.989
2023-12-05	SAM6D	RGB-D	0.261	0.528	0.234	0.026	0.292	0.411	0.092	0.342	0.362	0.026	0.372	0.638	2.887
2024-05-08	NIDS-Net_WA_Sappe	RGB	0.257	0.495	0.259	0.025	0.291	0.317	0.088	0.345	0.361	0.024	0.370	0.601	0.536
2024-05-08	NIDS-Net_WA	RGB	0.245	0.478	0.244	0.024	0.296	0.244	0.080	0.338	0.357	0.023	0.371	0.562	0.533
2023-12-05	SAM6D-FastSAM	RGB-D	0.245	0.439	0.255	0.028	0.262	0.460	0.094	0.304	0.320	0.028	0.329	0.615	0.506
2024-05-08	NIDS-Net_basic	RGB	0.244	0.482	0.241	0.024	0.293	0.262	0.081	0.338	0.356	0.023	0.370	0.573	0.541
2024-03-22	SAM6D-FastSAM(RGB)	RGB	0.234	0.417	0.249	0.028	0.254	0.389	0.089	0.291	0.315	0.028	0.325	0.608	0.282
2023-09-16	ZeroPose	RGB	0.228	0.416	0.245	0.023	0.266	0.255	0.075	0.296	0.331	0.023	0.344	0.552	3.887
2023-08-02	CNOS (FastSAM) (FastSAM)	RGB	0.226	0.405	0.239	0.027	0.255	0.382	0.088	0.280	0.312	0.026	0.323	0.597	0.250
2023-08-02	CNOS (SAM) (SAM)	RGB	0.207	0.385	0.212	0.022	0.226	0.352	0.076	0.251	0.276	0.022	0.288	0.521	1.732

Tip: Hover over the numbers to see more decimal places.

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