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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) – T-LESS

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)
2022-10-13 GDRNPP-PBRReal-RGBD-MModel RGB-D 0.874 0.829 0.884 0.909 6.635
2022-10-14 GDRNPP-PBRReal-RGBD-MModel-Fast RGB-D 0.872 0.815 0.887 0.915 0.155
2022-10-12 GDRNPP-PBRReal-RGBD-SModel RGB-D 0.856 0.793 0.871 0.903 0.441
2022-10-15 GDRNPP-PBR-RGBD-MModel RGB-D 0.852 0.783 0.872 0.901 6.512
2022-10-09 Extended FCOS+PFA-MixPBR-RGBD (depth-refine) RGB-D 0.850 0.816 0.856 0.878 4.200
2020-08-18 CosyPose-ECCV20-SYNT+REAL-8VIEWS RGB 0.839 0.773 0.836 0.907 0.969
2021-12-22 SurfEmb-PBR-RGBD RGB-D 0.828 0.797 0.829 0.859 9.227
2022-10-13 GDRNPP-PBRReal-RGBD-MModel-OfficialDet RGB-D 0.824 0.781 0.833 0.856 6.296
2022-10-16 ZebraPoseSAT-EffnetB4 RGB 0.806 0.730 0.777 0.911 0.250
2022-10-09 Extended FCOS+PFA-PBR-RGBD (depth-refine) RGB-D 0.802 0.764 0.807 0.833 5.552
2020-08-18 CosyPose-ECCV20-SYNT+REAL-4VIEWS RGB 0.801 0.742 0.795 0.864 0.792
2022-10-08 GDRNPP-PBR-RGB-MModel RGB 0.796 0.700 0.763 0.924 0.186
2022-10-14 ZebraPose-SAT RGB 0.787 0.708 0.755 0.897 0.250
2022-10-10 GDRNPP-PBRReal-RGB-MModel (gdrnpp tless) RGB 0.786 0.687 0.760 0.913 0.141
2022-07-05 SC6D (Synt+Real) RGB 0.780 0.716 0.764 0.860 0.490
2022-10-03 Extended FCOS+PFA-MixPBR-RGBD RGB-D 0.779 0.718 0.795 0.825 0.699
2022-10-12 Extended FCOS+PFA-MixPBR-RGBD-Fast RGB-D 0.779 0.716 0.795 0.825 0.740
2022-10-03 Extended FCOS+PFA-MixPBR-RGB RGB 0.778 0.709 0.749 0.877 3.650
2022-04-24 Coupled Iterative Refinement RGB-D 0.776 0.760 0.773 0.795 -1.000
2022-10-14 ZebraPose RGB 0.775 0.696 0.740 0.889 -1.000
2022-10-15 ZebraPoseSAT-EffnetB4 (DefaultDetection) RGB 0.768 0.697 0.742 0.866 0.250
2022-07-05 SC6D (PBR-Only) RGB 0.748 0.671 0.721 0.853 0.508
2022-07-28 PFA-cosypose (1view) RGB 0.738 0.673 0.706 0.835 -1.000
2022-10-10 Extended FCOS+PFA-PBR-RGBD RGB-D 0.736 0.671 0.753 0.784 3.478
2021-12-22 SurfEmb-PBR-RGB RGB 0.735 0.661 0.686 0.857 9.043
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.728 0.669 0.695 0.821 0.451
2022-10-15 ZebraPoseSAT-EffnetB4 + ICP (DefaultDetection) RGB-D 0.727 0.598 0.784 0.798 0.500
2022-10-15 ZebraPoseSAT-EffnetB4 (PBR_Only) RGB 0.723 0.659 0.695 0.817 -1.000
2022-07-21 DPODv2 (mixed train data, RGB + D Kabsch) (Real RGB YOLO, Synt RGB DPOD, Kabsch) RGB-D 0.720 0.665 0.738 0.756 0.455
2022-10-09 Extended FCOS+PFA-PBR-RGB RGB 0.719 0.643 0.682 0.832 5.387
2022-04-24 Coupled Iterative Refinement (RGB) RGB 0.715 0.663 0.684 0.798 -1.000
2022-10-04 RCVPose 3D_SingleModel_VIVO_PBR RGB-D 0.708 0.704 0.710 0.711 0.979
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW-ICP RGB-D 0.701 0.587 0.749 0.767 7.367
2022-07-21 DPODv2 (synthetic train data, RGB + D Kabsch) (RGB YOLO, RGB DPOD, Kabsch) RGB-D 0.699 0.646 0.716 0.736 0.320
2020-08-19 Koenig-Hybrid-DL-PointPairs RGB-D 0.655 0.580 0.689 0.696 0.337
2022-07-21 DPODv2 (mixed train data, RGB) (Real RGB YOLO, Synt RGB DPOD, PnP) RGB 0.655 0.579 0.621 0.764 0.306
2022-10-07 CRT-6D RGB 0.644 0.558 0.592 0.782 0.059
2020-08-18 CosyPose-ECCV20-PBR-1VIEW RGB 0.640 0.571 0.589 0.761 0.493
2022-07-21 DPODv2 (mixed train data, RGB + D Kabsch) (Real RGB YOLO, Synt RGB DPOD, Kabsch, ICP) RGB-D 0.610 0.503 0.656 0.672 0.737
2022-07-21 DPODv2 (synthetic train data, RGB + D Kabsch) (RGB YOLO, RGB DPOD, Kabsch, ICP) RGB-D 0.590 0.485 0.632 0.652 0.523
2022-07-21 DPODv2 (real train data, RGB + D Kabsch (Real RGB YOLO, Real RGB DPOD, Kabsch) RGB-D 0.560 0.537 0.557 0.586 0.315
2019-10-22 Vidal-Sensors18 D 0.538 0.464 0.575 0.574 7.063
2022-07-21 DPODv2 (real train data, RGB) (RGB YOLO, RGB DPOD, PnP) RGB 0.518 0.469 0.491 0.595 0.367
2020-08-17 Pix2Pose-BOP20_w/ICP-ICCV19 RGB-D 0.512 0.438 0.548 0.549 4.180
2019-08-12 Drost-CVPR10-Edges RGB-D 0.500 0.469 0.512 0.518 70.914
2020-08-19 CDPN_BOP19 (RGB-only) RGB 0.490 0.377 0.418 0.674 0.708
2022-07-21 DPODv2 (real train data, RGB + D Kabsch (Real RGB YOLO, Real RGB DPOD, Kabsch, ICP) RGB-D 0.490 0.416 0.516 0.537 0.578
2019-10-22 Sundermeyer-IJCV19+ICP RGB-D 0.487 0.459 0.489 0.514 0.531
2020-08-19 CDPNv2_BOP20 (RGB-only) (CDPNv2_BOP20 (MODE1, FCOS)) RGB 0.478 0.386 0.426 0.620 1.852
2020-03-29 EPOS-CVPR20 RGB 0.476 0.369 0.423 0.635 1.177
2020-08-19 EPOS-BOP20-PBR RGB 0.467 0.380 0.403 0.619 1.992
2020-08-19 CDPNv2_BOP20 (RGB-only & ICP) (cxt) RGB-D 0.464 0.385 0.489 0.516 2.645
2019-07-31 Drost-CVPR10-3D-Only D 0.444 0.375 0.478 0.480 9.204
2020-08-19 CDPNv2_BOP20 (PBR-only & ICP) (icpv4) RGB-D 0.435 0.368 0.449 0.488 2.486
2020-08-19 CDPNv2_BOP20 (PBR-only & RGB-only) (Zhigang-CDPNv2 (MODE 2, FCOS)) RGB 0.407 0.303 0.338 0.579 1.849
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.405 0.344 0.435 0.436 1.928
2019-08-05 Drost-CVPR10-3D-Edges D 0.404 0.370 0.422 0.420 62.507
2020-08-19 leaping from 2D to 6D (tless) RGB 0.403 0.225 0.271 0.712 0.611
2022-09-28 ZTE_PPF D 0.374 0.178 0.481 0.463 0.846
2020-08-18 Pix2Pose-BOP20-ICCV19 RGB 0.344 0.261 0.296 0.476 1.084
2020-08-18 SingleMultiPathEncoder-CVPR20 RGB 0.310 0.211 0.224 0.496 0.193
2019-10-11 Sundermeyer-IJCV19 RGB 0.304 0.196 0.211 0.504 0.194
2019-10-14 Pix2Pose-Original-ICCV19 RGB 0.295 0.214 0.238 0.432 1.522
2019-10-20 Félix&Neves-ICRA2017-IET2019 RGB-D 0.212 0.206 0.216 0.213 42.417
2019-10-22 Zhigang-CDPN-ICCV19 (Zhigang-CDPN-ICCV19) RGB 0.124 0.048 0.152 0.170 1.381
2019-10-12 DPOD (synthetic) (with instance segmentation) RGB 0.081 0.048 0.055 0.139 0.206
2020-08-19 PointVoteNet2 (TLESS-PVN2-E6-HALF) RGB-D 0.004 0.003 0.005 0.005 -1.000
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