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)
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
2020-08-18 CosyPose-ECCV20-SYNT+REAL-4VIEWS RGB 0.801 0.742 0.795 0.864 0.792
2022-07-05 SC6D (Synt+Real) RGB 0.780 0.716 0.764 0.860 0.490
2022-04-24 Coupled Iterative Refinement RGB-D 0.776 0.760 0.773 0.795 -1.000
2022-07-05 SC6D (PBR-Only) RGB 0.748 0.671 0.721 0.853 0.508
2022-07-28 PFA-cosypose (Bidir-1view) RGB 0.738 0.673 0.706 0.835 -1.000
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
2022-07-21 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
2022-04-24 Coupled Iterative Refinement (RGB) RGB 0.715 0.663 0.684 0.798 -1.000
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
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
2022-01-31 ZebraPose RGB 0.603 0.459 0.618 0.732 0.250
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
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
2022-09-15 ZTE_PPF D 0.253 0.104 0.348 0.307 0.832
2019-10-20 FĂ©lix&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