Pose estimation (BOP 2019-2022) – Linemod

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)
2022-09-14 ZTE_PPF D 0.865 0.761 0.915 0.919 0.686
2022-03-03 PPF_3D_ICP D 0.814 0.719 0.856 0.866 0.393
2022-03-03 RCVPose (RCVPose(SISO)) RGB-D 0.799 0.740 0.826 0.832 -1.000
2021-12-27 FFB6D-CVPR21-PBR-NoRefinement RGB-D 0.773 0.673 0.810 0.835 0.191
2019-07-31 Drost-CVPR10-3D-Only D 0.751 0.678 0.786 0.789 1.786
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.723 0.655 0.754 0.759 0.297
2019-08-12 Drost-CVPR10-Edges RGB-D 0.722 0.650 0.756 0.761 32.577
2019-08-05 Drost-CVPR10-3D-Edges D 0.649 0.587 0.680 0.680 30.108
2021-12-03 FFB6D (FFB6D-lm-synthetic) RGB-D 0.643 0.519 0.702 0.709 0.196
2019-10-14 DPOD (synthetic) RGB 0.482 0.373 0.450 0.622 0.024
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