Pose estimation (BOP 2019-2022) – Doumanoglou et al.

The performance scores are defined in the BOP Challenge 2019 description. The reported time is the average image processing time.

Date (UTC) Submission Test image AR ARVSD ARMSSD ARMSPD Time (s)
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
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
2022-10-12 GDRNPP-PBRReal-RGBD-MModel-OfficialDet RGB-D 0.708 0.666 0.728 0.729 7.385
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 Extended FCOS+PFA-MixPBR-RGBD RGB-D 0.676 0.636 0.692 0.702 5.376
2022-10-08 Extended FCOS+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
2022-10-12 Extended FCOS+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
2022-10-15 ZebraPoseSAT-EffnetB4 + ICP (DefaultDetection) RGB-D 0.652 0.621 0.663 0.671 0.500
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW-ICP RGB-D 0.647 0.624 0.652 0.666 11.358
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
2022-10-03 Extended FCOS+PFA-MixPBR-RGB RGB 0.600 0.521 0.589 0.689 7.529
2022-10-10 Extended FCOS+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
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
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
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 FĂ©lix&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