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 | |
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 | 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 | FĂ©lix&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 |
Tip: Hover over the numbers to see more decimal places.