This leaderbord shows the overall ranking for Model-based 6D localization of seen objects on BOP-Classic-Core (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 | RADet+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 | RADet+PFA-PBR-RGB | RGB | 0.663 | 0.745 | 0.719 | 0.732 | 0.600 | 0.353 | 0.841 | 0.648 | 3.497 | |
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 | |
2022-10-16 | GDRNPP-PBRReal-RGB-SModel | RGB | 0.678 | 0.686 | 0.776 | 0.827 | 0.617 | 0.260 | 0.809 | 0.768 | 0.466 | |
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 | RADet+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 | |
2024-03-22 | ModalOcclusion-RGB | RGB | 0.717 | 0.815 | 0.607 | |||||||
2024-03-23 | ModalOccusion-Depth | D | 0.594 | 0.503 | ||||||||
2019-10-22 | FĂ©lix&Neves-ICRA2017-IET2019 | RGB-D | 0.412 | 0.394 | 0.212 | 0.851 | 0.323 | 0.069 | 0.529 | 0.510 | 55.780 | |
2024-03-24 | ModalOcclusion-RGBD | RGB-D | 0.787 | 0.896 | 0.672 | |||||||
2024-03-21 | MRC-Net | RGB | 0.685 | 0.798 | 0.393 | 0.816 | ||||||
2024-03-21 | PseudoNet | D | 0.570 | |||||||||
2024-03-03 | poseio | RGB-D | 0.819 | |||||||||
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 (DefaultDet... | 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 (Defa... | 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 | |
2024-04-05 | DSGC6D | RGB-D | 0.904 | |||||||||
2024-04-06 | DSGC6D^ | RGB-D | 0.911 | |||||||||
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 | |
2022-10-12 | SFM-TransferTech | D | 0.481 | |||||||||
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 | |||||||||
2020-03-29 | EPOS-CVPR20 | RGB | 0.443 | 0.476 | 0.696 | |||||||
2023-06-29 | AMB6D-PBR+Real | RGB-D | 0.705 | |||||||||
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... | RGB-D | 0.700 | 0.699 | 0.845 | |||||||
2022-07-21 | DPODv2 (real train data, RGB + D ... | 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... | 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 | |
2023-09-24 | MRPE-PBRReal-RGB-SModel | RGB | 0.694 | 0.744 | 0.758 | 0.824 | 0.550 | 0.368 | 0.770 | 0.843 | 0.100 | |
2024-09-16 | HccePose(BF) 2024 | RGB | 0.771 | 0.745 | 0.856 | 0.861 | 0.636 | 0.550 | 0.914 | 0.833 | 0.066 | |
2024-09-26 | DGCF6D | RGB-D | 0.752 | 0.817 | ||||||||
2022-10-15 | ZebraPose-SAT | RGB | 0.710 | 0.721 | 0.787 | 0.861 | 0.549 | 0.379 | 0.847 | 0.828 | ||
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 | |||||||||
2023-09-24 | MRPE-PBR-RGB-SModel | RGB | 0.540 | 0.715 | 0.729 | 0.206 | 0.462 | 0.353 | 0.765 | 0.552 | 0.099 | |
2023-09-22 | Megapose-GDRNPPDet_PBRReal | RGB | 0.657 | 0.612 | 0.766 | 0.723 | 0.555 | 0.402 | 0.851 | 0.692 | 32.349 | |
2023-09-27 | Megapose-GDRNPPDet_PBRReal+MultiHyp | RGB | 0.675 | 0.648 | 0.781 | 0.741 | 0.569 | 0.422 | 0.863 | 0.702 | 36.285 | |
2023-09-22 | Megapose-GDRNPPDet_PBRReal+MultiH... | RGB-D | 0.744 | 0.704 | 0.718 | 0.916 | 0.592 | 0.553 | 0.872 | 0.855 | 93.267 | |
2022-07-22 | OSOP: RGB | RGB | 0.274 | 0.464 | ||||||||
2022-07-22 | OSOP: RGBD | RGB-D | 0.432 | 0.581 | ||||||||
2023-09-27 | GPose2023 | RGB-D | 0.856 | 0.794 | 0.914 | 0.964 | 0.737 | 0.704 | 0.950 | 0.928 | 2.670 | |
2023-09-25 | OfficialDet-PFA-Mixpbr-RGB-D | RGB-D | 0.800 | 0.792 | 0.849 | 0.963 | 0.706 | 0.526 | 0.867 | 0.899 | 1.193 | |
2023-09-25 | ZebraPoseSAT-EffnetB4(DefaultDete... | RGB | 0.749 | 0.729 | 0.821 | 0.850 | 0.592 | 0.504 | 0.922 | 0.828 | 0.250 | |
2023-09-26 | GDRNPPDet_PBRReal+GenFlow-MultiHypo | RGB-D | 0.792 | 0.744 | 0.780 | 0.924 | 0.651 | 0.647 | 0.916 | 0.884 | 36.012 | |
2023-09-27 | GDRNPPDet_PBRReal+GenFlow-MultiHy... | RGB | 0.701 | 0.668 | 0.823 | 0.760 | 0.581 | 0.486 | 0.893 | 0.698 | 35.360 | |
2023-09-27 | GPose2023-PBR | RGB-D | 0.844 | 0.794 | 0.890 | 0.931 | 0.737 | 0.704 | 0.950 | 0.901 | 2.686 | |
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 | |
2023-09-27 | GPose2023-RGB | RGB | 0.729 | 0.699 | 0.799 | 0.831 | 0.626 | 0.460 | 0.876 | 0.809 | 0.243 | |
2022-10-13 | GDRNPP-PBRReal-RGBD-MModel-Offici... | RGB-D | 0.798 | 0.758 | 0.824 | 0.966 | 0.708 | 0.543 | 0.890 | 0.896 | 6.406 | |
2023-09-27 | ZebraPoseSAT-EffnetB4(PBR only De... | RGB | 0.720 | 0.729 | 0.811 | 0.756 | 0.592 | 0.504 | 0.921 | 0.729 | 0.250 | |
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 | |||||||||
2023-10-22 | HccePose (FCOS) | RGB | 0.768 | 0.862 | 0.607 | 0.827 | ||||||
2022-03-06 | RCVPose | RGB-D | 0.749 | 0.859 | ||||||||
2024-01-28 | HccePose (ResNet34 & Default 2D B... | RGB | 0.742 | 0.732 | 0.820 | 0.858 | 0.606 | 0.472 | 0.873 | 0.829 | ||
2022-10-15 | ZebraPose | RGB | 0.718 | 0.775 | 0.861 | 0.346 | 0.856 | 0.815 | ||||
2023-09-24 | GPose2023-OfficialDet | RGB-D | 0.851 | 0.805 | 0.895 | 0.966 | 0.734 | 0.687 | 0.944 | 0.929 | 4.575 | |
2022-03-06 | PPF_3D_ICP | D | 0.636 | 0.776 | 0.411 | |||||||
2023-11-22 | PViT-6D | RGB | 0.740 | 0.832 | ||||||||
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 | |||||||
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 | |
2023-12-11 | HiPose-CVPR24 | RGB-D | 0.799 | 0.834 | 0.907 | |||||||
2024-01-30 | RDPN | RGB-D | 0.798 | 0.776 | 0.768 | 0.957 | 0.720 | 0.575 | 0.907 | 0.883 | 2.429 | |
2024-02-29 | HccePose(efficientnet-b4 & Defaul... | RGB | 0.763 | 0.739 | 0.843 | 0.863 | 0.611 | 0.540 | 0.913 | 0.833 | 0.093 | |
2019-10-17 | gao-cloudpose19plus | D | 0.510 | |||||||||
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 | ||
2020-08-20 | SSD-6D No Ref | RGB | 0.139 | |||||||||
2022-10-12 | RADet+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 | RADet+PFA-MixPBR-RGB | RGB | 0.709 | 0.745 | 0.778 | 0.839 | 0.600 | 0.353 | 0.841 | 0.806 | 3.019 | |
2023-09-27 | ZebraPoseSAT-EffnetB4_refined(Def... | RGB-D | 0.813 | 0.780 | 0.862 | 0.956 | 0.654 | 0.618 | 0.921 | 0.899 | 2.577 | |
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 | |
2023-10-08 | HccePose (Faster-RCNN) | RGB | 0.760 | |||||||||
2022-10-13 | CRT-6D | RGB | 0.599 | 0.660 | 0.644 | 0.789 | 0.537 | 0.208 | 0.603 | 0.752 | 0.059 |
Tip: Hover over the numbers to see more decimal places.