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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 – ITODD

This leaderbord shows the ranking for Model-based 6D localization of seen objects on ITODD. 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 0.704 0.645 0.734 0.734 2.599
2023-09-26 GPose2023-PBR RGB-D 0.704 0.645 0.734 0.734 2.599
2023-08-15 GPose2023-OfficialDet RGB-D 0.687 0.630 0.714 0.716 2.722
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
2023-09-26 GDRNPPDet_PBRReal+GenFlow-MultiHypo RGB-D 0.647 0.591 0.678 0.673 27.139
2023-09-27 ZebraPoseSAT-EffnetB4_refined(DefaultDetections-2023) RGB-D 0.618 0.557 0.647 0.651 2.307
2022-10-14 GDRNPP-PBRReal-RGBD-MModel-Fast RGB-D 0.588 0.496 0.645 0.623 0.194
2024-01-30 RDPN (cir) RGB-D 0.575 0.558 0.588 0.579 2.326
2019-08-12 Drost-CVPR10-Edges RGB-D 0.570 0.499 0.617 0.596 6.833
2024-03-21 PseudoNet D 0.570 0.511 0.594 0.606 -1.000
2023-09-22 Megapose-GDRNPPDet_PBRReal+MultiHyp_Teaserpp RGB-D 0.553 0.506 0.579 0.573 139.049
2024-08-15 HccePose(BF) 2024 RGB 0.550 0.431 0.493 0.725 0.064
2022-10-13 GDRNPP-PBRReal-RGBD-MModel-OfficialDet RGB-D 0.543 0.498 0.568 0.563 5.891
2024-02-29 HccePose(efficientnet-b4 & Default 2D BBOX) RGB 0.540 0.419 0.486 0.715 0.099
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
2024-02-16 HccePose(efficientnet-b4 & Default 2D BBOX) RGB 0.527 0.412 0.473 0.696 -1.000
2022-10-15 ZebraPoseSAT-EffnetB4 + ICP (DefaultDetection) RGB-D 0.527 0.454 0.543 0.582 0.500
2023-09-25 OfficialDet-PFA-Mixpbr-RGB-D RGB-D 0.526 0.463 0.546 0.569 1.150
2024-02-10 HccePose(efficientnet-b4 & Default 2D BBOX) RGB 0.526 0.407 0.472 0.697 -1.000
2023-09-25 ZebraPoseSAT-EffnetB4(DefaultDetections-2023) RGB 0.504 0.395 0.446 0.669 0.250
2023-09-26 ZebraPoseSAT-EffnetB4(PBR only DefaultDetections-2023) RGB 0.504 0.395 0.446 0.669 0.250
2023-09-27 GDRNPPDet_PBRReal+GenFlow-MultiHypo-RGB RGB 0.486 0.404 0.433 0.622 26.644
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
2023-12-14 HccePose (ResNet34 & Default 2D BBOX) RGB 0.472 0.357 0.414 0.645 -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 RADet+PFA-PBR-RGBD RGB-D 0.469 0.413 0.495 0.498 1.396
2022-10-11 RADet+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 RADet+PFA-MixPBR-RGBD-Fast RGB-D 0.460 0.401 0.491 0.489 0.337
2023-09-26 GPose2023-RGB RGB 0.460 0.327 0.422 0.630 0.242
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
2023-09-22 Megapose-GDRNPPDet_PBRReal+MultiHyp RGB 0.422 0.358 0.372 0.534 27.039
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
2023-09-22 Megapose-GDRNPPDet_PBRReal RGB 0.402 0.347 0.350 0.509 24.430
2024-03-18 MRC-Net (PBR(DefaultDetections2022)) RGB 0.393 0.296 0.353 0.532 2.417
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
2023-09-24 MRPE-PBRReal-RGB-SModel RGB 0.368 0.255 0.297 0.551 0.101
2022-10-14 GDRNPP-PBRReal-RGBD-SModel RGB-D 0.356 0.302 0.397 0.370 0.342
2023-09-24 MRPE-PBR-RGB-SModel RGB 0.353 0.247 0.288 0.525 0.098
2022-10-11 RADet+PFA-MixPBR-RGB RGB 0.353 0.269 0.306 0.484 2.324
2022-10-11 RADet+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
2022-10-14 GDRNPP-PBRReal-RGB-SModel (itodd_pbr_rgb_smodel) RGB 0.260 0.176 0.238 0.366 0.281
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 Félix&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

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

Latest submissions to this leaderboard: