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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 – IC-BIN

This leaderbord shows the ranking for Model-based 6D localization of seen objects on IC-BIN. 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 0.737 0.697 0.756 0.758 2.718
2023-09-26 GPose2023-PBR RGB-D 0.737 0.697 0.756 0.758 2.718
2023-08-15 GPose2023-OfficialDet RGB-D 0.734 0.692 0.753 0.756 6.355
2022-10-16 RCVPose 3D_SingleModel_VIVO_PBR RGB-D 0.733 0.732 0.732 0.734 3.005
2022-12-17 SMPose (SMPose_Dec17_bestnow) RGB-D 0.725 0.685 0.744 0.746 -1.000
2024-10-30 HccePose(BF) 2024 + ref(FoundationPose) + Default 2D BBOX RGB-D 0.724 0.702 0.735 0.736 1.005
2022-10-14 GDRNPP-PBRReal-RGBD-MModel RGB-D 0.722 0.681 0.741 0.744 5.517
2022-10-14 GDRNPP-PBR-RGBD-MModel RGB-D 0.722 0.681 0.741 0.744 5.517
2024-01-28 RDPN (cir) RGB-D 0.720 0.693 0.734 0.735 2.516
2022-10-12 GDRNPP-PBRReal-RGBD-MModel-OfficialDet RGB-D 0.708 0.666 0.728 0.729 7.385
2023-09-25 OfficialDet-PFA-Mixpbr-RGB-D RGB-D 0.706 0.661 0.722 0.733 1.410
2022-10-14 GDRNPP-PBRReal-RGBD-MModel-Fast RGB-D 0.702 0.654 0.723 0.730 0.640
2022-10-12 GDRNPP-PBRReal-RGBD-SModel RGB-D 0.680 0.638 0.699 0.703 1.825
2022-10-03 RADet+PFA-MixPBR-RGBD RGB-D 0.676 0.636 0.692 0.702 5.376
2022-10-08 RADet+PFA-PBR-RGBD RGB-D 0.676 0.636 0.692 0.702 5.376
2022-04-24 Coupled Iterative Refinement RGB-D 0.676 0.656 0.688 0.683 -1.000
2024-03-15 ModalOcclusion-RGBD RGB-D 0.672 0.632 0.687 0.696 15.015
2022-10-12 RADet+PFA-MixPBR-RGBD-Fast RGB-D 0.671 0.628 0.686 0.698 1.614
2021-12-22 SurfEmb-PBR-RGBD RGB-D 0.659 0.621 0.677 0.680 21.872
2023-09-27 ZebraPoseSAT-EffnetB4_refined(DefaultDetections-2023) RGB-D 0.654 0.632 0.665 0.664 2.689
2022-10-15 ZebraPoseSAT-EffnetB4 + ICP (DefaultDetection) RGB-D 0.652 0.621 0.663 0.671 0.500
2023-09-26 GDRNPPDet_PBRReal+GenFlow-MultiHypo RGB-D 0.651 0.616 0.672 0.666 80.373
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW-ICP RGB-D 0.647 0.624 0.652 0.666 11.358
2024-08-16 HccePose(BF) 2024 + Default 2D BBOX RGB 0.636 0.565 0.627 0.715 0.058
2023-09-26 GPose2023-RGB RGB 0.626 0.538 0.610 0.728 0.314
2022-10-06 GDRNPP-PBR-RGB-MModel RGB 0.623 0.535 0.606 0.727 0.664
2022-10-06 GDRNPP-PBRReal-RGB-MModel RGB 0.623 0.535 0.606 0.727 0.664
2022-10-16 GDRNPP-PBRReal-RGB-SModel RGB 0.617 0.535 0.600 0.716 1.487
2024-02-29 HccePose(efficientnet-b4 & Default 2D BBOX) RGB 0.611 0.537 0.602 0.693 0.089
2023-10-18 HccePose (FCOS) RGB 0.607 0.540 0.592 0.690 -1.000
2024-01-14 HccePose(efficientnet-b4 & Default 2D BBOX) RGB 0.607 0.537 0.596 0.688 -1.000
2024-03-15 ModalOcclusion-RGB RGB 0.607 0.532 0.596 0.692 14.764
2023-11-04 HccePose (ResNet34 & Default 2D BBOX) RGB 0.606 0.540 0.593 0.685 -1.000
2022-10-03 RADet+PFA-MixPBR-RGB RGB 0.600 0.521 0.589 0.689 7.529
2022-10-10 RADet+PFA-PBR-RGB RGB 0.600 0.521 0.589 0.689 7.529
2022-10-15 ZebraPoseSAT-EffnetB4 (DefaultDetection) RGB 0.597 0.518 0.593 0.681 0.250
2022-07-11 PFA-cosypose (1view-Bidir) RGB 0.596 0.531 0.584 0.675 -1.000
2023-09-27 ZebraPoseSAT-EffnetB4(PBR only DefaultDetections-2023) RGB 0.592 0.511 0.584 0.681 0.250
2023-09-22 Megapose-GDRNPPDet_PBRReal+MultiHyp_Teaserpp RGB-D 0.592 0.550 0.600 0.625 163.299
2023-09-25 ZebraPoseSAT-EffnetB4(DefaultDetections-2023) RGB 0.592 0.511 0.585 0.680 0.250
2021-12-22 SurfEmb-PBR-RGB RGB 0.588 0.514 0.573 0.678 21.457
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.583 0.515 0.559 0.675 0.678
2020-08-18 CosyPose-ECCV20-PBR-1VIEW RGB 0.583 0.515 0.559 0.675 0.673
2023-09-27 GDRNPPDet_PBRReal+GenFlow-MultiHypo-RGB RGB 0.581 0.506 0.574 0.662 78.901
2023-09-22 Megapose-GDRNPPDet_PBRReal+MultiHyp RGB 0.569 0.500 0.554 0.652 74.156
2023-09-22 Megapose-GDRNPPDet_PBRReal RGB 0.555 0.502 0.537 0.625 61.619
2023-09-24 MRPE-PBRReal-RGB-SModel RGB 0.550 0.510 0.514 0.627 0.097
2022-10-14 ZebraPose-SAT RGB 0.549 0.481 0.538 0.628 -1.000
2022-10-15 ZebraPoseSAT-EffnetB4 RGB 0.545 0.475 0.535 0.625 0.250
2022-10-15 ZebraPoseSAT-EffnetB4 (PBR_Only) RGB 0.545 0.475 0.535 0.625 0.250
2022-10-13 CRT-6D RGB 0.537 0.477 0.517 0.618 0.120
2020-08-18 CDPNv2_BOP20 (RGB-only) (Zhigang-CDPNv2 (MODE 1, FCOS)) RGB 0.473 0.399 0.438 0.582 1.856
2020-08-19 CDPNv2_BOP20 (PBR-only & RGB-only) (Zhigang-CDPNv2 (MODE 2, FCOS)) RGB 0.473 0.399 0.438 0.582 1.856
2023-09-24 MRPE-PBR-RGB-SModel RGB 0.462 0.440 0.422 0.524 0.096
2020-08-19 CDPNv2_BOP20 (PBR-only & ICP) (icpv4) RGB-D 0.450 0.433 0.458 0.459 2.540
2020-08-19 CDPNv2_BOP20 (RGB-only & ICP) (icpv4) RGB-D 0.450 0.433 0.458 0.459 2.540
2020-08-19 Koenig-Hybrid-DL-PointPairs RGB-D 0.430 0.573 0.373 0.346 0.521
2022-09-27 ZTE_PPF D 0.396 0.510 0.351 0.325 0.824
2019-10-22 Vidal-Sensors18 D 0.393 0.505 0.353 0.322 1.241
2020-08-17 Pix2Pose-BOP20_w/ICP-ICCV19 RGB-D 0.390 0.411 0.384 0.374 3.696
2019-07-31 Drost-CVPR10-3D-Only D 0.388 0.501 0.344 0.320 4.063
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.377 0.497 0.328 0.305 0.474
2019-10-18 Pix2Pose-BOP19_w/ICP-ICCV19 RGB-D 0.376 0.407 0.368 0.352 2.339
2019-08-05 Drost-CVPR10-3D-Edges D 0.373 0.504 0.322 0.294 23.718
2019-08-12 Drost-CVPR10-Edges RGB-D 0.368 0.491 0.320 0.293 26.888
2020-08-19 EPOS-BOP20-PBR RGB 0.363 0.300 0.323 0.465 5.140
2020-08-19 leaping from 2D to 6D (icbin_0820) RGB 0.342 0.251 0.270 0.505 0.152
2020-08-17 CDPN_BOP19 (RGB-only) RGB 0.327 0.255 0.280 0.447 1.009
2019-10-14 Félix&Neves-ICRA2017-IET2019 RGB-D 0.323 0.434 0.283 0.251 126.298
2019-10-14 Sundermeyer-IJCV19+ICP RGB-D 0.281 0.276 0.281 0.286 0.556
2020-08-19 PointVoteNet2 (ICBIN-PVN2-E6) RGB-D 0.264 0.381 0.217 0.194 -1.000
2019-10-22 Zhigang-CDPN-ICCV19 (Zhigang-CDPN-ICCV19) RGB 0.257 0.219 0.233 0.319 0.733
2020-08-18 Pix2Pose-BOP20-ICCV19 RGB 0.226 0.164 0.179 0.336 1.149
2019-10-14 Sundermeyer-IJCV19 RGB 0.217 0.181 0.186 0.285 0.197
2020-08-18 SingleMultiPathEncoder-CVPR20 RGB 0.175 0.170 0.142 0.213 0.200
2019-10-12 DPOD (synthetic) RGB 0.130 0.098 0.108 0.185 0.249

Tip: Hover over the numbers to see more decimal places.

Latest submissions to this leaderboard: