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Tasks on seen objects: 6D localization of seen objects 2D detection of seen objects 2D segmentation of seen objects
Tasks on unseen objects: 6D localization of unseen objects 2D detection of unseen objects 2D segmentation of unseen objects
Datasets: Core datasets LM LM-O T-LESS ITODD HB HOPE YCB-V RU-APC IC-BIN IC-MI TUD-L TYO-L

6D localization of seen objects – Core datasets

This leaderbord shows the overall ranking for Task 1 on the core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). For each method, the date of the latest considered submission is reported. If more submissions of a method are available for a dataset, the submission with the highest ARCore score is considered. The reported time is the average image processing time averaged over the core datasets.

Date (UTC) Method Test image ARCore ARLM-O ART-LESS ARTUD-L ARIC-BIN ARITODD ARHB ARYCB-V Time (s)
2022-10-11 Extended FCOS+PFA-MixPBR-RGBD RGB-D 0.787 0.797 0.850 0.960 0.676 0.469 0.869 0.888 2.317
2022-10-11 Extended FCOS+PFA-PBR-RGB RGB 0.663 0.745 0.719 0.732 0.600 0.353 0.841 0.648 3.497
2019-08-20 Drost-CVPR10-3D-Only D 0.487 0.527 0.444 0.775 0.388 0.316 0.615 0.344 7.704
2019-10-13 DPOD (synthetic) RGB 0.161 0.169 0.081 0.242 0.130 0.000 0.286 0.222 0.231
2022-10-13 GDRNPP-PBRReal-RGB-MModel RGB 0.728 0.713 0.786 0.831 0.623 0.448 0.869 0.825 0.229
2019-08-21 Drost-CVPR10-3D-Edges D 0.500 0.469 0.404 0.852 0.373 0.462 0.623 0.316 80.055
2022-10-12 Extended FCOS+PFA-MixPBR-RGBD-Fast RGB-D 0.771 0.792 0.779 0.958 0.671 0.460 0.860 0.880 0.639
2019-10-14 Pix2Pose-Original-ICCV19 RGB 0.295
2019-10-16 gao-cloudpose19 D 0.208 0.588
2021-09-09 Sundermeyer-IJCV19 RGB 0.280 0.146 0.304 0.401 0.217 0.101 0.346 0.446 0.196
2019-10-22 Sundermeyer-IJCV19+ICP RGB-D 0.398 0.237 0.487 0.614 0.281 0.158 0.506 0.505 0.865
2022-10-14 GDRNPP-PBRReal-RGBD-SModel RGB-D 0.748 0.757 0.856 0.906 0.680 0.356 0.864 0.817 0.556
2022-10-12 SFM-TransferTech D 0.481
2019-10-22 Félix&Neves-ICRA2017-IET2019 RGB-D 0.412 0.394 0.212 0.851 0.323 0.069 0.529 0.510 55.780
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.454 0.492 0.405 0.696 0.377 0.274 0.603 0.330 1.383
2019-10-17 gao-cloudpose19plus D 0.510
2022-10-15 ZebraPose-SAT RGB 0.710 0.721 0.787 0.861 0.549 0.379 0.847 0.828
2019-10-18 Pix2Pose-BOP19_w/ICP-ICCV19 RGB-D 0.376 0.675
2022-10-16 ZebraPoseSAT-EffnetB4 (PBR_Only) RGB 0.670 0.721 0.723 0.717 0.545 0.410 0.882 0.691
2022-10-15 ZebraPoseSAT-EffnetB4 (DefaultDetection) RGB 0.720 0.707 0.768 0.849 0.597 0.417 0.887 0.816 0.250
2022-10-15 ZebraPoseSAT-EffnetB4 + ICP (DefaultD... RGB-D 0.765 0.752 0.727 0.948 0.652 0.527 0.883 0.866 0.500
2019-10-22 Vidal-Sensors18 D 0.569 0.582 0.538 0.876 0.393 0.435 0.706 0.450 3.220
2019-10-22 Zhigang-CDPN-ICCV19 RGB 0.353 0.374 0.124 0.757 0.257 0.070 0.470 0.422 0.513
2020-08-18 Pix2Pose-BOP20-ICCV19 RGB 0.342 0.363 0.344 0.420 0.226 0.134 0.446 0.457 1.215
2020-08-17 Pix2Pose-BOP20_w/ICP-ICCV19 RGB-D 0.591 0.588 0.512 0.820 0.390 0.351 0.695 0.780 4.844
2022-12-17 SMPose RGB-D 0.725 0.894
2020-03-09 W-PoseNet w/ICP RGB-D 0.707 0.779
2023-03-09 FFB6D-PBR+Real RGB-D 0.677
2023-03-10 Magic RGB 0.835
2023-04-22 VSW6D RGB-D 0.876
2020-03-29 EPOS-CVPR20 RGB 0.443 0.476 0.696
2023-05-02 AMB6D-PBR+Real RGB-D 0.700
2020-07-20 G2L1 RGB-D 0.760
2020-06-12 Pix2Pose-BOP19-PBR RGB 0.281
2020-08-19 CDPN_BOP19 (RGB-only) RGB 0.479 0.569 0.490 0.769 0.327 0.067 0.672 0.457 0.480
2020-08-11 PVNet-CVPR19 RGB 0.575
2020-08-11 PVNet-CVPR19+ICP RGB-D 0.638
2020-08-19 EPOS-BOP20-PBR RGB 0.457 0.547 0.467 0.558 0.363 0.186 0.580 0.499 1.874
2020-08-19 SingleMultiPathEncoder-CVPR20 RGB 0.241 0.217 0.310 0.334 0.175 0.067 0.293 0.289 0.186
2020-08-18 CosyPose-ECCV20-PBR-1VIEW RGB 0.570 0.633 0.640 0.685 0.583 0.216 0.656 0.574 0.475
2022-07-21 DPODv2 (synthetic train data, RGB) RGB 0.584 0.714
2022-07-21 DPODv2 (synthetic train data, RGBD) RGB-D 0.582 0.468
2022-07-21 DPODv2 (real train data, RGB) RGB 0.518
2022-07-21 DPODv2 (synthetic train data, RGB + D... RGB-D 0.700 0.699 0.845
2022-10-16 RCVPose 3D_SingleModel_VIVO_PBR RGB-D 0.768 0.729 0.708 0.966 0.733 0.536 0.863 0.843 1.336
2022-07-21 DPODv2 (real train data, RGB + D Kabsch RGB-D 0.560
2022-10-13 GDRNPP-PBR-RGB-MModel RGB 0.702 0.713 0.796 0.752 0.623 0.448 0.869 0.713 0.284
2022-07-21 DPODv2 (mixed train data, RGB + D Kab... RGB-D 0.720
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.637 0.633 0.728 0.823 0.583 0.216 0.656 0.821 0.449
2020-08-19 CosyPose-ECCV20-SYNT+REAL-1VIEW-ICP RGB-D 0.698 0.714 0.701 0.939 0.647 0.313 0.712 0.861 13.743
2020-08-18 CosyPose-ECCV20-SYNT+REAL-4VIEWS RGB 0.801 0.696 0.840
2020-08-18 CosyPose-ECCV20-SYNT+REAL-8VIEWS RGB 0.839 0.746 0.853
2020-08-19 CDPNv2_BOP20 (RGB-only) RGB 0.529 0.624 0.478 0.772 0.473 0.102 0.722 0.532 0.935
2020-08-19 CDPNv2_BOP20 (PBR-only & RGB-only) RGB 0.472 0.624 0.407 0.588 0.473 0.102 0.722 0.390 0.978
2020-08-19 leaping from 2D to 6D RGB 0.471 0.525 0.403 0.751 0.342 0.077 0.658 0.543 0.425
2020-08-19 Koenig-Hybrid-DL-PointPairs RGB-D 0.639 0.631 0.655 0.920 0.430 0.483 0.651 0.701 0.633
2020-08-19 PointVoteNet2 RGB-D 0.351 0.653 0.004 0.673 0.264 0.001 0.556 0.308
2020-08-19 CDPNv2_BOP20 (PBR-only & ICP) RGB-D 0.534 0.630 0.435 0.791 0.450 0.186 0.712 0.532 1.491
2020-08-19 CDPNv2_BOP20 (RGB-only & ICP) RGB-D 0.568 0.630 0.464 0.913 0.450 0.186 0.712 0.619 1.462
2020-08-20 SSD-6D No Ref RGB 0.139
2019-08-22 Drost-CVPR10-Edges RGB-D 0.550 0.515 0.500 0.851 0.368 0.570 0.671 0.375 87.568
2022-04-25 Coupled Iterative Refinement RGB-D 0.741 0.734 0.776 0.968 0.676 0.381 0.757 0.893
2022-07-21 DPODv2 (mixed train data, RGB) RGB 0.655
2022-07-22 OSOP: RGB RGB 0.274 0.464
2022-07-22 OSOP: RGBD RGB-D 0.432 0.581
2022-10-15 GDRNPP-PBRReal-RGBD-MModel RGB-D 0.837 0.775 0.874 0.966 0.722 0.679 0.926 0.921 6.263
2022-10-13 GDRNPP-PBRReal-RGBD-MModel-OfficialDet RGB-D 0.798 0.758 0.824 0.966 0.708 0.543 0.890 0.896 6.406
2021-12-03 FFB6D RGB-D 0.497
2021-12-22 SurfEmb-PBR-RGB RGB 0.650 0.663 0.735 0.715 0.588 0.413 0.791 0.647 8.891
2021-12-22 SurfEmb-PBR-RGBD RGB-D 0.758 0.760 0.828 0.854 0.659 0.538 0.866 0.799 9.048
2021-12-27 FFB6D-CVPR21-PBR-NoRefinement RGB-D 0.687 0.758
2021-12-27 FFB6D-CVPR21-SYNT+REAL-NoRefinement RGB-D 0.855
2022-03-06 RCVPose RGB-D 0.749 0.859
2022-10-15 ZebraPose RGB 0.718 0.775 0.861 0.346 0.856 0.815
2022-03-06 PPF_3D_ICP D 0.636 0.776 0.411
2022-06-16 TSR RGB-D 0.502
2022-04-01 XYZ-SurfaceMatching D 0.471
2022-04-24 Coupled Iterative Refinement (RGB) RGB 0.655 0.715 0.824
2022-10-14 GDRNPP-PBRReal-RGBD-MModel-Fast RGB-D 0.805 0.792 0.872 0.936 0.702 0.588 0.909 0.834 0.228
2022-08-09 SC6D RGB 0.780 0.303 0.765
2022-10-15 GDRNPP-PBR-RGBD-MModel RGB-D 0.827 0.775 0.852 0.929 0.722 0.679 0.926 0.906 6.264
2022-07-28 PFA-cosypose RGB 0.659 0.674 0.738 0.837 0.596 0.246 0.712 0.807
2022-10-12 Extended FCOS+PFA-PBR-RGBD RGB-D 0.762 0.797 0.802 0.893 0.676 0.469 0.869 0.826 2.631
2022-10-11 Extended FCOS+PFA-MixPBR-RGB RGB 0.709 0.745 0.778 0.839 0.600 0.353 0.841 0.806 3.019
2022-10-16 ZebraPoseSAT-EffnetB4 RGB 0.720 0.721 0.806 0.850 0.545 0.410 0.882 0.830 0.250
2022-09-28 ZTE_PPF D 0.578 0.663 0.374 0.904 0.396 0.470 0.735 0.502 0.901
2022-10-13 CRT-6D RGB 0.599 0.660 0.644 0.789 0.537 0.208 0.603 0.752 0.059
Latest submissions to this leaderboard: