Pose estimation (BOP 2019-2022) – MVTec ITODD

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)
2022-10-15 GDRNPP-PBR-RGBD-MModel RGB-D 0.679 0.622 0.707 0.708 6.759
2022-10-15 GDRNPP-PBRReal-RGBD-MModel RGB-D 0.679 0.622 0.707 0.708 6.759
2022-10-14 GDRNPP-PBRReal-RGBD-MModel-Fast RGB-D 0.588 0.496 0.645 0.623 0.194
2019-08-12 Drost-CVPR10-Edges RGB-D 0.570 0.499 0.617 0.596 6.833
2022-10-13 GDRNPP-PBRReal-RGBD-MModel-OfficialDet RGB-D 0.543 0.498 0.568 0.563 5.891
2021-12-22 SurfEmb-PBR-RGBD RGB-D 0.538 0.497 0.558 0.560 4.942
2022-10-06 RCVPose 3D_SingleModel_VIVO_PBR RGB-D 0.536 0.494 0.556 0.557 1.090
2022-10-15 ZebraPoseSAT-EffnetB4 + ICP (DefaultDetection) RGB-D 0.527 0.454 0.543 0.582 0.500
2020-08-19 Koenig-Hybrid-DL-PointPairs RGB-D 0.483 0.431 0.520 0.499 0.318
2022-10-12 SFM-TransferTech D 0.481 0.437 0.506 0.501 -1.000
2022-04-01 XYZ-SurfaceMatching D 0.471 0.431 0.502 0.480 0.666
2022-09-27 ZTE_PPF D 0.470 0.404 0.510 0.495 1.674
2022-10-11 Extended FCOS+PFA-PBR-RGBD RGB-D 0.469 0.413 0.495 0.498 1.396
2022-10-11 Extended FCOS+PFA-MixPBR-RGBD RGB-D 0.469 0.413 0.495 0.498 1.396
2019-08-05 Drost-CVPR10-3D-Edges D 0.462 0.415 0.494 0.478 5.838
2022-10-12 Extended FCOS+PFA-MixPBR-RGBD-Fast RGB-D 0.460 0.401 0.491 0.489 0.337
2022-10-13 GDRNPP-PBR-RGB-MModel (upd) RGB 0.448 0.316 0.410 0.617 0.293
2022-10-13 GDRNPP-PBRReal-RGB-MModel (itodd_pbr_rgb_mmodel) RGB 0.448 0.316 0.410 0.617 0.293
2019-10-22 Vidal-Sensors18 D 0.435 0.414 0.458 0.434 3.419
2022-10-15 ZebraPoseSAT-EffnetB4 (DefaultDetection) RGB 0.417 0.329 0.374 0.547 0.250
2021-12-22 SurfEmb-PBR-RGB RGB 0.413 0.324 0.363 0.552 4.843
2022-10-15 ZebraPoseSAT-EffnetB4 RGB 0.410 0.316 0.361 0.552 0.250
2022-10-15 ZebraPoseSAT-EffnetB4 (PBR_Only) RGB 0.410 0.316 0.361 0.552 0.250
2022-04-25 Coupled Iterative Refinement RGB-D 0.381 0.394 0.379 0.370 -1.000
2022-10-14 ZebraPose-SAT RGB 0.379 0.282 0.318 0.538 -1.000
2022-10-14 GDRNPP-PBRReal-RGBD-SModel RGB-D 0.356 0.302 0.397 0.370 0.342
2022-10-11 Extended FCOS+PFA-MixPBR-RGB RGB 0.353 0.269 0.306 0.484 2.324
2022-10-11 Extended FCOS+PFA-PBR-RGB RGB 0.353 0.269 0.306 0.484 2.324
2020-08-17 Pix2Pose-BOP20_w/ICP-ICCV19 RGB-D 0.351 0.297 0.397 0.359 13.639
2022-10-14 ZebraPose RGB 0.346 0.251 0.283 0.504 -1.000
2019-07-31 Drost-CVPR10-3D-Only D 0.316 0.286 0.340 0.320 2.000
2020-08-17 CosyPose-ECCV20-SYNT+REAL-1VIEW-ICP RGB-D 0.313 0.282 0.341 0.315 60.314
2022-08-09 SC6D (PBR-Only) RGB 0.303 0.210 0.277 0.422 1.156
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.274 0.250 0.297 0.275 0.829
2022-07-28 PFA-cosypose (1view) RGB 0.246 0.201 0.208 0.330 -1.000
2020-08-18 CosyPose-ECCV20-PBR-1VIEW RGB 0.216 0.172 0.177 0.300 0.569
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.216 0.172 0.177 0.300 0.569
2022-10-13 CRT-6D RGB 0.208 0.153 0.179 0.293 0.085
2020-08-19 CDPNv2_BOP20 (PBR-only & ICP) (bbox) RGB-D 0.186 0.168 0.206 0.184 2.879
2020-08-19 CDPNv2_BOP20 (RGB-only & ICP) (bbox) RGB-D 0.186 0.168 0.206 0.184 2.879
2020-08-19 EPOS-BOP20-PBR RGB 0.186 0.143 0.156 0.259 3.849
2019-10-22 Sundermeyer-IJCV19+ICP RGB-D 0.158 0.117 0.141 0.215 0.461
2020-08-18 Pix2Pose-BOP20-ICCV19 RGB 0.134 0.073 0.088 0.242 2.539
2020-08-19 CDPNv2_BOP20 (RGB-only) (Zhigang-CDPNv2 (MODE 1, FCOS)) RGB 0.102 0.059 0.087 0.161 2.187
2020-08-19 CDPNv2_BOP20 (PBR-only & RGB-only) (Zhigang-CDPNv2 (MODE 2, FCOS)) RGB 0.102 0.059 0.087 0.161 2.187
2019-10-22 Sundermeyer-IJCV19 RGB 0.101 0.046 0.050 0.208 0.180
2020-08-19 leaping from 2D to 6D (itodd) RGB 0.077 0.021 0.024 0.186 0.292
2019-10-22 Zhigang-CDPN-ICCV19 (Zhigang-CDPN-ICCV19) RGB 0.070 0.043 0.050 0.115 0.444
2019-10-22 FĂ©lix&Neves-ICRA2017-IET2019 RGB-D 0.069 0.050 0.084 0.073 35.487
2020-08-19 SingleMultiPathEncoder-CVPR20 RGB 0.067 0.031 0.031 0.140 0.177
2020-08-14 CDPN_BOP19 (RGB-only) RGB 0.067 0.031 0.044 0.126 0.787
2020-08-19 PointVoteNet2 (ITODD-PVN2-E6-HALF) RGB-D 0.001 0.001 0.000 0.000 -1.000
2019-10-13 DPOD (synthetic) RGB 0.000 0.000 0.000 0.000 0.423