Pose estimation (BOP 2019-2022) – TUD Light

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)
2022-04-24 Coupled Iterative Refinement RGB-D 0.968 0.920 0.991 0.991 -1.000
2022-10-13 RCVPose 3D_SingleModel_VIVO_PBR RGB-D 0.966 0.964 0.968 0.968 0.196
2022-10-12 GDRNPP-PBRReal-RGBD-MModel RGB-D 0.966 0.915 0.990 0.993 4.443
2022-10-12 GDRNPP-PBRReal-RGBD-MModel-OfficialDet RGB-D 0.966 0.914 0.990 0.993 5.425
2022-10-03 Extended FCOS+PFA-MixPBR-RGBD RGB-D 0.960 0.904 0.986 0.989 1.055
2022-10-12 Extended FCOS+PFA-MixPBR-RGBD-Fast RGB-D 0.958 0.902 0.984 0.989 0.374
2022-10-15 ZebraPoseSAT-EffnetB4 + ICP (DefaultDetection) RGB-D 0.948 0.885 0.978 0.981 0.500
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW-ICP RGB-D 0.939 0.869 0.972 0.976 0.812
2022-10-14 GDRNPP-PBRReal-RGBD-MModel-Fast RGB-D 0.936 0.866 0.965 0.977 0.125
2022-10-15 GDRNPP-PBR-RGBD-MModel RGB-D 0.929 0.856 0.961 0.970 6.060
2020-08-19 Koenig-Hybrid-DL-PointPairs RGB-D 0.920 0.872 0.945 0.944 0.048
2020-08-19 CDPNv2_BOP20 (RGB-only & ICP) (bbox) RGB-D 0.913 0.832 0.962 0.947 0.313
2022-10-12 GDRNPP-PBRReal-RGBD-SModel RGB-D 0.906 0.835 0.937 0.946 0.163
2022-09-26 ZTE_PPF D 0.904 0.853 0.930 0.930 0.545
2022-10-10 Extended FCOS+PFA-PBR-RGBD RGB-D 0.893 0.821 0.930 0.929 0.995
2019-10-22 Vidal-Sensors18 D 0.876 0.811 0.910 0.907 0.486
2022-02-07 ZebraPose RGB 0.861 0.753 0.848 0.981 0.250
2022-10-14 ZebraPose-SAT RGB 0.861 0.753 0.848 0.981 0.250
2021-12-22 SurfEmb-PBR-RGBD RGB-D 0.854 0.767 0.891 0.905 2.439
2019-08-05 Drost-CVPR10-3D-Edges D 0.852 0.809 0.875 0.872 2.448
2019-08-12 Drost-CVPR10-Edges RGB-D 0.851 0.782 0.890 0.881 2.922
2019-10-14 FĂ©lix&Neves-ICRA2017-IET2019 RGB-D 0.851 0.769 0.894 0.889 11.064
2022-10-15 ZebraPoseSAT-EffnetB4 RGB 0.850 0.736 0.836 0.977 0.250
2022-10-15 ZebraPoseSAT-EffnetB4 (DefaultDetection) RGB 0.849 0.737 0.835 0.977 0.250
2022-10-03 Extended FCOS+PFA-MixPBR-RGB RGB 0.839 0.719 0.820 0.978 0.866
2022-07-17 PFA-cosypose (7view) RGB 0.837 0.712 0.819 0.981 -1.000
2022-10-06 GDRNPP-PBRReal-RGB-MModel RGB 0.831 0.702 0.818 0.972 0.046
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.823 0.689 0.807 0.973 0.238
2020-08-17 Pix2Pose-BOP20_w/ICP-ICCV19 RGB-D 0.820 0.737 0.861 0.862 1.366
2020-08-19 CDPNv2_BOP20 (PBR-only & ICP) (icpv4) RGB-D 0.791 0.698 0.847 0.829 0.280
2022-10-07 CRT-6D RGB 0.789 0.651 0.766 0.951 0.021
2022-03-06 PPF_3D_ICP (PPF_3D_ICP) D 0.776 0.713 0.814 0.802 0.143
2019-07-31 Drost-CVPR10-3D-Only D 0.775 0.741 0.793 0.791 0.311
2020-08-18 CDPNv2_BOP20 (RGB-only) (Zhigang-CDPNv2 (MODE 1, FCOS)) RGB 0.772 0.597 0.793 0.925 0.069
2020-08-14 CDPN_BOP19 (RGB-only) RGB 0.769 0.605 0.794 0.909 0.089
2020-07-20 G2L1 (G2L_1_ICP) RGB-D 0.760 0.585 0.865 0.828 0.225
2019-10-22 Zhigang-CDPN-ICCV19 (Zhigang-CDPN-ICCV19) RGB 0.757 0.595 0.781 0.895 0.099
2022-10-13 GDRNPP-PBR-RGB-MModel (tudl_pbr_rgb_mmodel) RGB 0.752 0.598 0.742 0.918 0.228
2020-08-19 leaping from 2D to 6D (tudl_0820) RGB 0.751 0.614 0.716 0.922 0.115
2022-10-10 Extended FCOS+PFA-PBR-RGB RGB 0.732 0.594 0.712 0.890 1.632
2022-10-15 ZebraPoseSAT-EffnetB4 (PBR_Only) RGB 0.717 0.592 0.706 0.853 -1.000
2021-12-22 SurfEmb-PBR-RGB RGB 0.715 0.569 0.687 0.889 2.403
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.696 0.668 0.711 0.709 0.120
2020-08-18 CosyPose-ECCV20-PBR-1VIEW RGB 0.685 0.544 0.664 0.847 0.281
2020-08-19 PointVoteNet2 (TUDL-PVN2-E6) RGB-D 0.673 0.659 0.681 0.680 -1.000
2019-10-22 Sundermeyer-IJCV19+ICP RGB-D 0.614 0.532 0.600 0.710 0.373
2020-08-19 CDPNv2_BOP20 (PBR-only & RGB-only) (Zhigang-CDPNv2 (MODE 2, FCOS)) RGB 0.588 0.391 0.577 0.797 0.068
2020-08-19 EPOS-BOP20-PBR RGB 0.558 0.399 0.533 0.741 0.251
2020-08-18 Pix2Pose-BOP20-ICCV19 RGB 0.420 0.255 0.364 0.641 0.419
2019-10-22 Sundermeyer-IJCV19 RGB 0.401 0.235 0.355 0.613 0.158
2020-08-18 SingleMultiPathEncoder-CVPR20 RGB 0.334 0.200 0.281 0.522 0.158
2019-10-10 DPOD (synthetic) RGB 0.242 0.162 0.223 0.341 0.046