BOP: Benchmark for 6D Object Pose Estimation

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 – BOP-Classic-Core

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 D, the submission with the highest AR_D score is considered. The reported time is the average time to generate predictions for all objects in a single image (averaged over the datasets).

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	Date (UTC)	Method	Test image	AR_Core	AR_LM-O	AR_T-LESS	AR_TUD-L	AR_IC-BIN	AR_ITODD	AR_HB	AR_YCB-V	Time (s)
1	2024-12-13	SCFlow	RGB-D	0.860	0.800	0.912	0.974	0.741	0.702	0.956	0.938	1.419
2	2023-09-27	GPose2023	RGB-D	0.856	0.794	0.914	0.964	0.737	0.704	0.950	0.928	2.670
3	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
4	2024-10-31	HccePose(BF) 2024 + ref(Foundatio...	RGB-D	0.847	0.805	0.879	0.944	0.724	0.734	0.931	0.911	0.908
5	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
6	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
7	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
8	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
9	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
10	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
11	2024-01-30	RDPN	RGB-D	0.798	0.776	0.768	0.957	0.720	0.575	0.907	0.883	2.429
12	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
13	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
14	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
15	2024-12-29	HccePose(BF) 2024 + Default 2D BBOX	RGB	0.773	0.755	0.856	0.869	0.635	0.542	0.919	0.839	0.100
16	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
17	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
18	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
19	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
20	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
21	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
22	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
23	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
24	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
25	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
26	2022-04-25	Coupled Iterative Refinement	RGB-D	0.741	0.734	0.776	0.968	0.676	0.381	0.757	0.893
27	2023-09-27	GPose2023-RGB	RGB	0.729	0.699	0.799	0.831	0.626	0.460	0.876	0.809	0.243
28	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
29	2022-10-16	ZebraPoseSAT-EffnetB4	RGB	0.720	0.721	0.806	0.850	0.545	0.410	0.882	0.830	0.250
30	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
31	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
32	2022-10-15	ZebraPose-SAT	RGB	0.710	0.721	0.787	0.861	0.549	0.379	0.847	0.828
33	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
34	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
35	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
36	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
37	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
38	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
39	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
40	2022-10-16	ZebraPoseSAT-EffnetB4 (PBR_Only)	RGB	0.670	0.721	0.723	0.717	0.545	0.410	0.882	0.691
41	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
42	2022-07-28	PFA-cosypose	RGB	0.659	0.674	0.738	0.837	0.596	0.246	0.712	0.807
43	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
44	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
45	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
46	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
47	2022-10-13	CRT-6D	RGB	0.599	0.660	0.644	0.789	0.537	0.208	0.603	0.752	0.059
48	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
49	2022-09-28	ZTE_PPF	D	0.578	0.663	0.374	0.904	0.396	0.470	0.735	0.502	0.901
50	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

Showing 1 to 50 of 121 entries

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Latest submissions to this leaderboard:

2024-12-29 08:35 - HccePose(BF) 2024 + Default 2D BBOX - YCB-V by SEU_WYL
2024-12-29 08:35 - HccePose(BF) 2024 + Default 2D BBOX - HB by SEU_WYL
2024-12-29 08:35 - HccePose(BF) 2024 + Default 2D BBOX - ITODD by SEU_WYL
2024-12-29 08:34 - HccePose(BF) 2024 + Default 2D BBOX - IC-BIN by SEU_WYL
2024-12-29 08:34 - HccePose(BF) 2024 + Default 2D BBOX - LM-O by SEU_WYL
2024-12-29 08:34 - HccePose(BF) 2024 + Default 2D BBOX - TUD-L by SEU_WYL
2024-12-29 08:32 - HccePose(BF) 2024 + Default 2D BBOX - T-LESS by SEU_WYL
2024-12-13 10:07 - SCFlow - YCB-V by SCFlow
2024-12-13 10:07 - SCFlow - HB by SCFlow
2024-12-13 10:06 - SCFlow - ITODD by SCFlow