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Task: Pose estimation (BOP 2019-2022) Detection (BOP 2022) Segmentation (BOP 2022)
Dataset: Core datasets LM LM-O T-LESS ITODD HB HOPE YCB-V RU-APC IC-BIN IC-MI TUD-L TYO-L

Pose estimation (BOP 2019-2022) – Linemod-Occluded

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)
2022-10-06 Extended FCOS+PFA-MixPBR-RGBD RGB-D 0.797 0.658 0.843 0.890 1.743
2022-10-12 Extended FCOS+PFA-PBR-RGBD RGB-D 0.797 0.658 0.843 0.890 1.743
2022-10-14 GDRNPP-PBRReal-RGBD-MModel-Fast RGB-D 0.792 0.651 0.836 0.889 0.177
2022-10-12 Extended FCOS+PFA-MixPBR-RGBD-Fast RGB-D 0.792 0.653 0.838 0.884 0.543
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
2021-12-22 SurfEmb-PBR-RGBD RGB-D 0.760 0.615 0.809 0.856 11.943
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
2022-10-15 ZebraPoseSAT-EffnetB4 + ICP (DefaultDetection) RGB-D 0.752 0.598 0.800 0.859 0.500
2022-03-03 RCVPose (RCVPose(SISO)) RGB-D 0.749 0.682 0.773 0.792 -1.000
2022-10-06 Extended FCOS+PFA-MixPBR-RGB RGB 0.745 0.597 0.761 0.877 2.604
2022-10-10 Extended FCOS+PFA-PBR-RGB RGB 0.745 0.597 0.761 0.877 2.604
2022-04-24 Coupled Iterative Refinement RGB-D 0.734 0.601 0.778 0.824 -1.000
2022-10-04 RCVPose 3D_SingleModel_VIVO_PBR RGB-D 0.729 0.720 0.723 0.745 1.532
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
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
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
2023-05-02 AMB6D-PBR+Real (submission1) RGB-D 0.700 0.560 0.749 0.792 0.459
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
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
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
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
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
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