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

Model-based 6D localization of seen objects – T-LESS

This leaderbord shows the ranking for Model-based 6D localization of seen objects on T-LESS. The reported time is the average image processing time.

Date (UTC) Submission Test image AR ARVSD ARMSSD ARMSPD Time (s)
2023-09-26 GPose2023 RGB-D 0.914 0.875 0.921 0.946 2.479
2024-03-24 ModalOcclusion-RGBD (pbr) RGB-D 0.896 0.862 0.897 0.929 7.237
2023-08-15 GPose2023-OfficialDet RGB-D 0.895 0.858 0.902 0.926 4.220
2023-09-26 GPose2023-PBR RGB-D 0.890 0.842 0.902 0.926 2.488
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
2023-09-27 ZebraPoseSAT-EffnetB4_refined(DefaultDetections-2023) RGB-D 0.862 0.811 0.873 0.902 2.619
2024-08-16 HccePose(BF) 2024 RGB 0.856 0.781 0.829 0.958 0.067
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 RADet+PFA-MixPBR-RGBD (depth-refine) RGB-D 0.850 0.816 0.856 0.878 4.200
2023-09-25 OfficialDet-PFA-Mixpbr-RGB-D RGB-D 0.849 0.814 0.855 0.877 2.090
2024-02-29 HccePose(efficientnet-b4 & Default 2D BBOX) RGB 0.843 0.767 0.814 0.948 0.098
2024-01-03 HccePose(efficientnet-b4 & Default 2D BBOX) RGB 0.842 0.766 0.816 0.945 -1.000
2020-08-18 CosyPose-ECCV20-SYNT+REAL-8VIEWS RGB 0.839 0.773 0.836 0.907 0.969
2023-12-11 HiPose-CVPR24 (PBR) RGB-D 0.834 0.746 0.866 0.888 -1.000
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
2023-09-27 GDRNPPDet_PBRReal+GenFlow-MultiHypo-RGB RGB 0.823 0.763 0.784 0.922 35.887
2023-09-25 ZebraPoseSAT-EffnetB4(DefaultDetections-2023) RGB 0.821 0.743 0.791 0.930 0.250
2023-11-13 HccePose (ResNet34 & Default 2D BBOX) RGB 0.820 0.737 0.792 0.932 -1.000
2024-03-03 poseio RGB-D 0.819 0.780 0.817 0.860 7.199
2024-03-22 ModalOcclusion-RGB (pbr) RGB 0.815 0.747 0.780 0.917 7.748
2023-09-27 ZebraPoseSAT-EffnetB4(PBR only DefaultDetections-2023) RGB 0.811 0.735 0.777 0.920 0.250
2022-10-16 ZebraPoseSAT-EffnetB4 RGB 0.806 0.730 0.777 0.911 0.250
2022-10-09 RADet+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
2023-09-26 GPose2023-RGB RGB 0.799 0.704 0.766 0.929 0.214
2024-03-18 MRC-Net (PBRReal(DefaultDetections2022)) RGB 0.798 0.737 0.785 0.871 1.720
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
2023-09-22 Megapose-GDRNPPDet_PBRReal+MultiHyp RGB 0.781 0.728 0.740 0.874 42.092
2023-09-26 GDRNPPDet_PBRReal+GenFlow-MultiHypo RGB-D 0.780 0.719 0.790 0.831 36.811
2022-07-05 SC6D (Synt+Real) RGB 0.780 0.716 0.764 0.860 0.490
2022-10-03 RADet+PFA-MixPBR-RGBD RGB-D 0.779 0.718 0.795 0.825 0.699
2022-10-12 RADet+PFA-MixPBR-RGBD-Fast RGB-D 0.779 0.716 0.795 0.825 0.740
2022-10-03 RADet+PFA-MixPBR-RGB RGB 0.778 0.709 0.749 0.877 3.650
2022-10-16 GDRNPP-PBRReal-RGB-SModel RGB 0.776 0.676 0.751 0.902 0.218
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
2024-03-18 MRC-Net (PBR(DefaultDetections2022)) RGB 0.771 0.706 0.747 0.860 1.875
2022-10-15 ZebraPoseSAT-EffnetB4 (DefaultDetection) RGB 0.768 0.697 0.742 0.866 0.250
2024-01-29 RDPN (cir) RGB-D 0.768 0.716 0.778 0.810 2.211
2023-09-22 Megapose-GDRNPPDet_PBRReal RGB 0.766 0.720 0.723 0.854 37.536
2023-09-24 MRPE-PBRReal-RGB-SModel RGB 0.758 0.657 0.697 0.919 0.103
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 RADet+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
2023-09-24 MRPE-PBR-RGB-SModel RGB 0.729 0.623 0.661 0.902 0.102
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 RADet+PFA-PBR-RGB RGB 0.719 0.643 0.682 0.832 5.387
2023-09-22 Megapose-GDRNPPDet_PBRReal+MultiHyp_Teaserpp RGB-D 0.718 0.665 0.714 0.777 100.242
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
2024-03-23 ModalOccusion-Depth (pbr) D 0.503 0.339 0.416 0.752 4.717
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

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

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