HOME CHALLENGES DATASETS LEADERBOARDS SUBMIT RESULTS Sign in
Tasks on seen objects: 6D localization of seen objects 2D detection of seen objects 2D segmentation of seen objects
Tasks on unseen objects: 6D localization of unseen objects 2D detection of unseen objects 2D segmentation of unseen objects
Datasets: Core datasets LM LM-O T-LESS ITODD HB HOPE YCB-V RU-APC IC-BIN IC-MI TUD-L TYO-L

6D localization of seen objects – IC-BIN

This leaderbord shows the ranking for Task 1 on IC-BIN. 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 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
Latest submissions to this leaderboard: