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BOP-Classic: Average on BOP-Classic-Core |   LM-O YCB-V T-LESS ITODD HB IC-BIN TUD-L |   HOPE LM RU-APC IC-MI TYO-L
BOP-H3: Average on BOP-H3 |   HOT3D HANDAL HOPEv2
Available tasks:
Model-based tasks on seen objects: 6D localization 6D detection 2D detection 2D segmentation
Model-based tasks on unseen objects: 6D localization 6D detection 2D detection 2D segmentation

Model-based 6D localization of seen objects – HB

This leaderbord shows the ranking for Model-based 6D localization of seen objects on HB. The reported time is the average image processing time.

Date (UTC) Submission Test image AR ARVSD ARMSSD ARMSPD Time (s)
2023-09-26 GPose2023 RGB-D 0.950 0.918 0.961 0.971 3.539
2023-09-26 GPose2023-PBR RGB-D 0.950 0.918 0.961 0.971 3.539
2023-08-15 GPose2023-OfficialDet RGB-D 0.944 0.908 0.957 0.966 6.363
2024-10-31 HccePose(BF) 2024 + ref(FoundationPose) + Default 2D BBOX RGB-D 0.931 0.902 0.944 0.947 1.021
2022-10-14 GDRNPP-PBRReal-RGBD-MModel RGB-D 0.926 0.885 0.942 0.952 8.000
2022-10-14 GDRNPP-PBR-RGBD-MModel RGB-D 0.926 0.885 0.942 0.952 8.000
2023-09-25 ZebraPoseSAT-EffnetB4(DefaultDetections-2023) RGB 0.922 0.878 0.920 0.967 0.250
2023-09-27 ZebraPoseSAT-EffnetB4_refined(DefaultDetections-2023) RGB-D 0.921 0.865 0.944 0.955 2.658
2023-09-26 ZebraPoseSAT-EffnetB4(PBR only DefaultDetections-2023) RGB 0.921 0.877 0.920 0.967 0.250
2023-09-26 GDRNPPDet_PBRReal+GenFlow-MultiHypo RGB-D 0.916 0.895 0.921 0.931 36.772
2024-08-18 HccePose(BF) 2024 + Default 2D BBOX RGB 0.914 0.856 0.919 0.967 0.057
2024-02-29 HccePose(efficientnet-b4 & Default 2D BBOX) RGB 0.913 0.864 0.910 0.966 0.091
2024-02-08 HccePose(efficientnet-b4 & Default 2D BBOX) RGB 0.912 0.856 0.915 0.966 -1.000
2022-10-14 GDRNPP-PBRReal-RGBD-MModel-Fast RGB-D 0.909 0.849 0.928 0.949 0.153
2024-01-28 RDPN (cir) RGB-D 0.907 0.856 0.928 0.937 2.320
2023-09-27 GDRNPPDet_PBRReal+GenFlow-MultiHypo-RGB RGB 0.893 0.860 0.889 0.929 36.350
2022-10-12 GDRNPP-PBRReal-RGBD-MModel-OfficialDet RGB-D 0.890 0.851 0.905 0.915 7.690
2022-10-15 ZebraPoseSAT-EffnetB4 (DefaultDetection) RGB 0.887 0.848 0.887 0.926 0.250
2022-10-15 ZebraPoseSAT-EffnetB4 + ICP (DefaultDetection) RGB-D 0.883 0.812 0.913 0.924 0.500
2022-10-15 ZebraPoseSAT-EffnetB4 RGB 0.882 0.842 0.881 0.922 0.250
2022-10-15 ZebraPoseSAT-EffnetB4 (PBR_Only) RGB 0.882 0.842 0.881 0.922 0.250
2023-09-26 GPose2023-RGB RGB 0.876 0.798 0.876 0.955 0.241
2023-11-22 HccePose (ResNet34 & Default 2D BBOX) RGB 0.873 0.804 0.870 0.945 -1.000
2023-09-22 Megapose-GDRNPPDet_PBRReal+MultiHyp_Teaserpp RGB-D 0.872 0.847 0.873 0.895 77.864
2022-10-07 RADet+PFA-MixPBR-RGBD RGB-D 0.869 0.840 0.880 0.888 1.124
2022-10-06 GDRNPP-PBR-RGB-MModel RGB 0.869 0.790 0.869 0.948 0.137
2022-10-06 GDRNPP-PBRReal-RGB-MModel RGB 0.869 0.790 0.869 0.948 0.137
2022-10-08 RADet+PFA-PBR-RGBD RGB-D 0.869 0.839 0.879 0.888 1.464
2023-09-25 OfficialDet-PFA-Mixpbr-RGB-D RGB-D 0.867 0.837 0.878 0.885 0.919
2021-12-22 SurfEmb-PBR-RGBD RGB-D 0.866 0.829 0.875 0.893 7.431
2022-10-13 GDRNPP-PBRReal-RGBD-SModel RGB-D 0.864 0.798 0.884 0.910 0.834
2022-10-09 RCVPose 3D_SingleModel_VIVO_PBR RGB-D 0.863 0.824 0.873 0.892 1.642
2023-09-22 Megapose-GDRNPPDet_PBRReal+MultiHyp RGB 0.863 0.823 0.851 0.915 36.233
2022-10-12 RADet+PFA-MixPBR-RGBD-Fast RGB-D 0.860 0.829 0.872 0.881 0.447
2022-10-15 ZebraPose RGB 0.856 0.807 0.848 0.912 0.250
2023-09-22 Megapose-GDRNPPDet_PBRReal RGB 0.851 0.813 0.837 0.901 34.724
2022-10-15 ZebraPose-SAT RGB 0.847 0.793 0.838 0.910 0.250
2022-07-21 DPODv2 (synthetic train data, RGB + D Kabsch) (RGB YOLO, RGB DPOD, Kabsch, ICP) RGB-D 0.845 0.784 0.872 0.879 0.329
2022-10-07 RADet+PFA-MixPBR-RGB RGB 0.841 0.804 0.840 0.879 2.005
2022-10-10 RADet+PFA-PBR-RGB RGB 0.841 0.804 0.840 0.879 2.005
2022-07-21 DPODv2 (synthetic train data, RGB + D Kabsch) (RGB YOLO, RGB DPOD, Kabsch) RGB-D 0.840 0.796 0.856 0.867 0.238
2022-10-12 GDRNPP-PBRReal-RGB-SModel RGB 0.809 0.719 0.801 0.908 0.991
2021-12-22 SurfEmb-PBR-RGB RGB 0.791 0.725 0.760 0.888 7.262
2023-09-24 MRPE-PBRReal-RGB-SModel RGB 0.770 0.703 0.737 0.870 0.098
2023-09-24 MRPE-PBR-RGB-SModel RGB 0.765 0.705 0.734 0.856 0.097
2022-04-24 Coupled Iterative Refinement RGB-D 0.757 0.760 0.753 0.757 -1.000
2020-08-18 CosyPose-ECCV20-SYNT+REAL-8VIEWS RGB 0.746 0.691 0.744 0.804 0.427
2022-09-27 ZTE_PPF D 0.735 0.732 0.733 0.738 0.755
2020-08-18 CDPNv2_BOP20 (RGB-only) (Zhigang-CDPNv2 (MODE 1, FCOS)) RGB 0.722 0.614 0.708 0.845 0.273
2020-08-19 CDPNv2_BOP20 (PBR-only & RGB-only) (Zhigang-CDPNv2 (MODE 2, FCOS)) RGB 0.722 0.614 0.708 0.845 0.273
2022-07-21 DPODv2 (synthetic train data, RGB) (RGB YOLO, RGB DPOD, PnP) RGB 0.714 0.627 0.692 0.823 0.163
2022-07-10 PFA-cosypose (7view) RGB 0.712 0.693 0.704 0.740 -1.000
2020-08-17 CosyPose-ECCV20-SYNT+REAL-1VIEW-ICP RGB-D 0.712 0.679 0.719 0.737 5.326
2020-08-19 CDPNv2_BOP20 (PBR-only & ICP) (icpv4) RGB-D 0.712 0.629 0.757 0.749 0.713
2020-08-19 CDPNv2_BOP20 (RGB-only & ICP) (icpv4) RGB-D 0.712 0.629 0.757 0.749 0.713
2019-10-22 Vidal-Sensors18 D 0.706 0.707 0.704 0.708 2.608
2020-08-18 CosyPose-ECCV20-SYNT+REAL-4VIEWS RGB 0.696 0.646 0.685 0.756 0.445
2020-08-17 Pix2Pose-BOP20_w/ICP-ICCV19 RGB-D 0.695 0.640 0.721 0.724 3.248
2020-08-17 CDPN_BOP19 (RGB-only) RGB 0.672 0.557 0.642 0.816 0.280
2019-08-12 Drost-CVPR10-Edges RGB-D 0.671 0.677 0.665 0.670 144.029
2020-08-19 leaping from 2D to 6D (hb) RGB 0.658 0.528 0.583 0.863 0.736
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.656 0.613 0.634 0.721 0.419
2020-08-18 CosyPose-ECCV20-PBR-1VIEW RGB 0.656 0.613 0.634 0.721 0.417
2020-08-19 Koenig-Hybrid-DL-PointPairs RGB-D 0.651 0.660 0.645 0.649 0.274
2019-08-05 Drost-CVPR10-3D-Edges D 0.623 0.618 0.624 0.626 127.372
2019-07-31 Drost-CVPR10-3D-Only D 0.615 0.593 0.627 0.627 16.136
2022-10-13 CRT-6D RGB 0.603 0.535 0.564 0.710 0.045
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.603 0.585 0.612 0.611 1.659
2022-07-22 OSOP: RGBD (no training on target objects, Kabsch + ICP) RGB-D 0.581 0.571 0.584 0.588 0.438
2020-08-19 EPOS-BOP20-PBR RGB 0.580 0.484 0.527 0.729 0.657
2022-07-22 OSOP: RGBD (no training on target objects, Kabsch) RGB-D 0.560 0.556 0.559 0.566 0.314
2020-08-19 PointVoteNet2 (HB-PVN2-E6) RGB-D 0.556 0.578 0.545 0.546 -1.000
2019-10-14 Félix&Neves-ICRA2017-IET2019 RGB-D 0.529 0.544 0.520 0.523 58.693
2019-10-22 Sundermeyer-IJCV19+ICP RGB-D 0.506 0.479 0.506 0.533 1.352
2019-10-22 Zhigang-CDPN-ICCV19 (Zhigang-CDPN-ICCV19) RGB 0.470 0.391 0.451 0.569 0.311
2022-07-21 DPODv2 (synthetic train data, RGBD) (RGB YOLO, Depth DPOD, Kabsch, ICP) RGB-D 0.468 0.462 0.468 0.473 0.470
2022-07-22 OSOP: RGB (no training on target objects, PnP) RGB 0.464 0.420 0.436 0.535 0.503
2020-08-18 Pix2Pose-BOP20-ICCV19 RGB 0.446 0.352 0.394 0.594 0.982
2022-07-21 DPODv2 (synthetic train data, RGBD) (RGB YOLO, Depth DPOD, Kabsch) RGB-D 0.382 0.344 0.398 0.403 0.245
2019-10-22 Sundermeyer-IJCV19 RGB 0.346 0.273 0.306 0.461 0.190
2020-08-11 SingleMultiPathEncoder-CVPR20 (Test) RGB 0.293 0.241 0.250 0.388 0.191
2019-10-10 DPOD (synthetic) RGB 0.286 0.218 0.262 0.379 0.180

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Latest submissions to this leaderboard: