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BOP-Classic: Average on BOP-Classic-Core |   ITODD LM-O YCB-V T-LESS HB IC-BIN TUD-L |   HOPE LM RU-APC IC-MI TYO-L
BOP-H3: Average on BOP-H3 |   HOT3D HANDAL HOPEv2
BOP-Industrial: Average on BOP-Industrial |   IPD XYZ-IBD ITODD-MV
Available tasks:
Model-based tasks on unseen objects: 6D localization 6D detection 2D detection 2D segmentation
Model-based tasks on seen objects: 6D localization 6D detection 2D detection 2D segmentation

Model-based 6D localization of seen objects – LM-O

This leaderbord shows the ranking for Model-based 6D localization of seen objects on LM-O. The reported time is the average time to generate predictions for all objects in a single image (averaged over the datasets).

Date (UTC) Submission Test image AR ARVSD ARMSSD ARMSPD Time (s)
2023-08-15 GPose2023-OfficialDet RGB-D 0.805 0.664 0.852 0.900 5.723
2024-10-30 HccePose(BF) 2024 + ref(FoundationPose) + Default 2D BBOX RGB-D 0.805 0.666 0.855 0.895 0.923
2024-12-13 SCFlow RGB-D 0.800 0.665 0.846 0.889 1.817
2023-12-11 HiPose-CVPR24 (PBR) RGB-D 0.799 0.648 0.853 0.895 -1.000
2022-10-06 RADet+PFA-MixPBR-RGBD RGB-D 0.797 0.658 0.843 0.890 1.743
2022-10-12 RADet+PFA-PBR-RGBD RGB-D 0.797 0.658 0.843 0.890 1.743
2023-09-27 GPose2023 RGB-D 0.794 0.654 0.841 0.888 2.579
2023-09-27 GPose2023-PBR RGB-D 0.794 0.654 0.841 0.888 2.579
2023-09-25 OfficialDet-PFA-Mixpbr-RGB-D RGB-D 0.792 0.650 0.841 0.886 0.933
2022-10-14 GDRNPP-PBRReal-RGBD-MModel-Fast RGB-D 0.792 0.651 0.836 0.889 0.177
2022-10-12 RADet+PFA-MixPBR-RGBD-Fast RGB-D 0.792 0.653 0.838 0.884 0.543
2024-03-21 ModalOcclusion-RGBD RGB-D 0.787 0.636 0.830 0.893 8.653
2023-09-27 ZebraPoseSAT-EffnetB4_refined(DefaultDetections-2023) RGB-D 0.780 0.635 0.828 0.877 2.926
2024-01-30 RDPN (cir) RGB-D 0.776 0.637 0.821 0.872 3.235
2022-10-14 GDRNPP-PBRReal-RGBD-MModel RGB-D 0.775 0.629 0.822 0.872 4.487
2022-10-14 GDRNPP-PBR-RGBD-MModel RGB-D 0.775 0.629 0.822 0.872 4.487
2023-10-08 HccePose (FCOS) RGB 0.768 0.615 0.787 0.902 -1.000
2021-12-22 SurfEmb-PBR-RGBD RGB-D 0.760 0.615 0.809 0.856 11.943
2023-10-08 HccePose (Faster-RCNN) RGB 0.760 0.610 0.781 0.889 -1.000
2022-10-12 GDRNPP-PBRReal-RGBD-MModel-OfficialDet RGB-D 0.758 0.618 0.805 0.850 5.533
2022-10-12 GDRNPP-PBRReal-RGBD-SModel RGB-D 0.757 0.619 0.803 0.849 0.140
2024-12-29 HccePose(BF) 2024 + Default 2D BBOX RGB 0.755 0.596 0.771 0.897 0.100
2022-10-15 ZebraPoseSAT-EffnetB4 + ICP (DefaultDetection) RGB-D 0.752 0.598 0.800 0.859 0.500
2024-09-26 DGCF6D RGB-D 0.752 0.593 0.776 0.888 -1.000
2022-03-03 RCVPose (RCVPose(SISO)) RGB-D 0.749 0.682 0.773 0.792 -1.000
2022-10-06 RADet+PFA-MixPBR-RGB RGB 0.745 0.597 0.761 0.877 2.604
2022-10-10 RADet+PFA-PBR-RGB RGB 0.745 0.597 0.761 0.877 2.604
2023-09-26 GDRNPPDet_PBRReal+GenFlow-MultiHypo RGB-D 0.744 0.612 0.788 0.831 48.149
2023-09-24 MRPE-PBRReal-RGB-SModel RGB 0.744 0.598 0.757 0.875 0.098
2023-11-22 PViT-6D (pvit6d-b_lmo_bop_keyframes_fcos_pbr_only) RGB 0.740 0.588 0.753 0.877 0.250
2024-02-29 HccePose(efficientnet-b4 & Default 2D BBOX) RGB 0.739 0.574 0.743 0.899 0.092
2024-01-28 HccePose(efficientnet-b4 & Default 2D BBOX) RGB 0.737 0.579 0.744 0.889 -1.000
2022-04-24 Coupled Iterative Refinement RGB-D 0.734 0.601 0.778 0.824 -1.000
2024-01-28 HccePose (ResNet34 & Default 2D BBOX) RGB 0.732 0.573 0.736 0.888 -1.000
2022-10-04 RCVPose 3D_SingleModel_VIVO_PBR RGB-D 0.729 0.720 0.723 0.745 1.532
2023-09-25 ZebraPoseSAT-EffnetB4(DefaultDetections-2023) RGB 0.729 0.562 0.736 0.889 0.250
2023-09-26 ZebraPoseSAT-EffnetB4(PBR only DefaultDetections-2023) RGB 0.729 0.562 0.736 0.888 0.250
2022-10-14 ZebraPose-SAT RGB 0.721 0.555 0.727 0.882 0.250
2022-10-16 ZebraPoseSAT-EffnetB4 RGB 0.721 0.557 0.727 0.878 0.250
2022-10-16 ZebraPoseSAT-EffnetB4 (PBR_Only) RGB 0.721 0.557 0.727 0.878 0.250
2022-01-30 ZebraPose RGB 0.718 0.552 0.721 0.880 0.250
2024-03-21 ModalOcclusion-RGB RGB 0.717 0.547 0.711 0.892 8.492
2023-09-24 MRPE-PBR-RGB-SModel RGB 0.715 0.555 0.701 0.889 0.097
2020-08-19 CosyPose-ECCV20-SYNT+REAL-1VIEW-ICP RGB-D 0.714 0.567 0.748 0.826 8.289
2022-10-06 GDRNPP-PBR-RGB-MModel RGB 0.713 0.549 0.701 0.887 0.206
2022-10-06 GDRNPP-PBRReal-RGB-MModel RGB 0.713 0.549 0.701 0.887 0.206
2022-10-15 ZebraPoseSAT-EffnetB4 (DefaultDetection) RGB 0.707 0.547 0.714 0.860 0.250
2020-03-09 W-PoseNet w/ICP RGB-D 0.707 0.601 0.726 0.793 2.555
2023-06-29 AMB6D-PBR+Real (submission1) RGB-D 0.705 0.566 0.754 0.797 0.461
2023-09-22 Megapose-GDRNPPDet_PBRReal+MultiHyp_Teaserpp RGB-D 0.704 0.572 0.741 0.799 93.170
2022-07-21 DPODv2 (synthetic train data, RGB + D Kabsch) (RGB YOLO, RGB DPOD, Kabsch) RGB-D 0.700 0.565 0.748 0.788 0.334
2023-09-27 GPose2023-RGB RGB 0.699 0.536 0.683 0.879 0.258
2022-07-21 DPODv2 (synthetic train data, RGB + D Kabsch) (RGB YOLO, RGB DPOD, Kabsch, ICP) RGB-D 0.698 0.557 0.749 0.787 0.387
2021-12-27 FFB6D-CVPR21-PBR-NoRefinement RGB-D 0.687 0.550 0.718 0.792 0.189
2022-10-16 GDRNPP-PBRReal-RGB-SModel RGB 0.686 0.518 0.664 0.875 0.092
2024-03-18 MRC-Net (PBR(DefaultDetections2022)) RGB 0.685 0.523 0.678 0.853 1.420
2023-03-09 FFB6D-PBR+Real (submission1) RGB-D 0.677 0.533 0.723 0.776 0.057
2022-07-14 PFA-cosypose (7view) RGB 0.674 0.523 0.661 0.837 -1.000
2023-09-27 GDRNPPDet_PBRReal+GenFlow-MultiHypo-RGB RGB 0.668 0.521 0.663 0.820 47.371
2022-09-14 ZTE_PPF D 0.663 0.538 0.707 0.745 0.647
2021-12-22 SurfEmb-PBR-RGB RGB 0.663 0.497 0.640 0.851 11.804
2022-10-12 CRT-6D RGB 0.660 0.504 0.640 0.837 0.054
2022-04-24 Coupled Iterative Refinement (RGB) RGB 0.655 0.501 0.633 0.831 -1.000
2020-08-19 PointVoteNet2 (LMO-PVN2-E6) RGB-D 0.653 0.535 0.699 0.724 -1.000
2023-09-22 Megapose-GDRNPPDet_PBRReal+MultiHyp RGB 0.648 0.499 0.638 0.807 40.361
2020-08-11 PVNet-CVPR19+ICP RGB-D 0.638 0.502 0.683 0.730 -1.000
2022-03-03 PPF_3D_ICP (PPF_3D_ICP) D 0.636 0.523 0.669 0.716 0.226
2020-08-18 CosyPose-ECCV20-PBR-1VIEW RGB 0.633 0.480 0.606 0.812 0.550
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.633 0.480 0.606 0.812 0.548
2020-08-19 Koenig-Hybrid-DL-PointPairs RGB-D 0.631 0.517 0.675 0.703 0.445
2020-08-19 CDPNv2_BOP20 (RGB-only & ICP) (icpv4) RGB-D 0.630 0.469 0.689 0.731 0.506
2020-08-19 CDPNv2_BOP20 (PBR-only & ICP) (icpv4) RGB-D 0.630 0.469 0.689 0.731 0.506
2020-08-18 CDPNv2_BOP20 (RGB-only) (Zhigang-CDPNv2 (MODE 1, FCOS)) RGB 0.624 0.445 0.612 0.815 0.163
2020-08-19 CDPNv2_BOP20 (PBR-only & RGB-only) (Zhigang-CDPNv2 (MODE 2, FCOS)) RGB 0.624 0.445 0.612 0.815 0.163
2023-09-22 Megapose-GDRNPPDet_PBRReal RGB 0.612 0.482 0.598 0.755 38.583
2024-03-21 ModalOccusion-Depth D 0.594 0.407 0.552 0.822 8.286
2020-08-17 Pix2Pose-BOP20_w/ICP-ICCV19 RGB-D 0.588 0.473 0.631 0.659 5.191
2022-07-21 DPODv2 (synthetic train data, RGB) (RGB YOLO, RGB DPOD, PnP) RGB 0.584 0.432 0.560 0.761 0.274
2022-07-21 DPODv2 (synthetic train data, RGBD) (RGB YOLO, Depth DPOD, Kabsch, ICP) RGB-D 0.582 0.472 0.621 0.654 0.398
2019-10-22 Vidal-Sensors18 D 0.582 0.473 0.625 0.647 4.002
2020-08-11 PVNet-CVPR19 RGB 0.575 0.428 0.543 0.754 -1.000
2020-08-14 CDPN_BOP19 (RGB-only) RGB 0.569 0.393 0.537 0.779 0.279
2020-08-19 EPOS-BOP20-PBR RGB 0.547 0.389 0.501 0.750 0.468
2022-07-21 DPODv2 (synthetic train data, RGBD) (RGB YOLO, Depth DPOD, Kabsch) RGB-D 0.541 0.422 0.580 0.621 0.325
2019-07-31 Drost-CVPR10-3D-Only D 0.527 0.437 0.563 0.581 15.947
2020-08-19 leaping from 2D to 6D (lmo_0820) RGB 0.525 0.350 0.444 0.781 0.939
2019-08-12 Drost-CVPR10-Edges RGB-D 0.515 0.425 0.550 0.569 323.508
2019-10-17 gao-cloudpose19plus D 0.510 0.438 0.504 0.589 -1.000
2021-12-03 FFB6D (FFB6D-lmo-synthetic) RGB-D 0.497 0.377 0.535 0.581 0.196
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.492 0.409 0.525 0.542 3.389
2019-08-05 Drost-CVPR10-3D-Edges D 0.469 0.392 0.504 0.511 301.023
2020-03-29 EPOS-CVPR20 RGB 0.443 0.290 0.380 0.659 0.487
2022-07-22 OSOP: RGBD (no training on target objects, Kabsch + ICP) RGB-D 0.432 0.372 0.450 0.474 0.560
2019-10-14 Félix&Neves-ICRA2017-IET2019 RGB-D 0.394 0.340 0.411 0.430 61.994
2022-07-22 OSOP: RGBD (no training on target objects, Kabsch) RGB-D 0.393 0.332 0.410 0.436 0.475
2019-10-22 Zhigang-CDPN-ICCV19 (Zhigang-CDPN-ICCV19) RGB 0.374 0.234 0.329 0.558 0.331
2020-08-18 Pix2Pose-BOP20-ICCV19 RGB 0.363 0.233 0.307 0.550 1.310
2020-06-12 Pix2Pose-BOP19-PBR RGB 0.281 0.156 0.210 0.478 1.157
2022-07-22 OSOP: RGB (no training on target objects, PnP) RGB 0.274 0.189 0.233 0.398 0.766
2019-10-21 Sundermeyer-IJCV19+ICP RGB-D 0.237 0.208 0.218 0.285 1.197
2020-08-17 SingleMultiPathEncoder-CVPR20 RGB 0.217 0.150 0.153 0.346 0.200
2019-10-16 gao-cloudpose19 D 0.208 0.221 0.175 0.230 -1.000
2019-10-10 DPOD (synthetic) RGB 0.169 0.101 0.126 0.278 0.172
2019-10-21 Sundermeyer-IJCV19 RGB 0.146 0.090 0.095 0.254 0.201
2020-08-20 SSD-6D No Ref (SSD-6D No Ref) RGB 0.139 0.047 0.083 0.285 -1.000

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

Latest submissions to this leaderboard: