This leaderbord shows the ranking for Model-based 6D localization of seen objects on TUD-L. 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 | |
2023-09-24 | GPose2023-OfficialDet | RGB-D | 0.966 | 0.910 | 0.993 | 0.994 | 2.512 | |
2022-10-12 | GDRNPP-PBRReal-RGBD-MModel-OfficialDet | RGB-D | 0.966 | 0.914 | 0.990 | 0.993 | 5.425 | |
2023-09-26 | GPose2023 | RGB-D | 0.964 | 0.908 | 0.990 | 0.993 | 2.366 | |
2023-09-25 | OfficialDet-PFA-Mixpbr-RGB-D | RGB-D | 0.963 | 0.905 | 0.990 | 0.994 | 0.903 | |
2022-10-03 | RADet+PFA-MixPBR-RGBD | RGB-D | 0.960 | 0.904 | 0.986 | 0.989 | 1.055 | |
2022-10-12 | RADet+PFA-MixPBR-RGBD-Fast | RGB-D | 0.958 | 0.902 | 0.984 | 0.989 | 0.374 | |
2024-01-28 | RDPN (cir) | RGB-D | 0.957 | 0.888 | 0.992 | 0.992 | 2.206 | |
2023-09-27 | ZebraPoseSAT-EffnetB4_refined(DefaultDetections-2023) | RGB-D | 0.956 | 0.885 | 0.991 | 0.992 | 2.277 | |
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 | |
2023-09-26 | GPose2023-PBR | RGB-D | 0.931 | 0.851 | 0.967 | 0.974 | 2.348 | |
2022-10-15 | GDRNPP-PBR-RGBD-MModel | RGB-D | 0.929 | 0.856 | 0.961 | 0.970 | 6.060 | |
2023-09-26 | GDRNPPDet_PBRReal+GenFlow-MultiHypo | RGB-D | 0.924 | 0.847 | 0.963 | 0.962 | 4.102 | |
2020-08-19 | Koenig-Hybrid-DL-PointPairs | RGB-D | 0.920 | 0.872 | 0.945 | 0.944 | 0.048 | |
2023-09-22 | Megapose-GDRNPPDet_PBRReal+MultiHyp_Teaserpp | RGB-D | 0.916 | 0.830 | 0.965 | 0.955 | 17.057 | |
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 | RADet+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 | |
2024-02-29 | HccePose(efficientnet-b4 & Default 2D BBOX) | RGB | 0.863 | 0.755 | 0.851 | 0.983 | 0.088 | |
2023-10-22 | HccePose (FCOS) | RGB | 0.862 | 0.752 | 0.855 | 0.979 | -1.000 | |
2024-01-14 | HccePose(efficientnet-b4 & Default 2D BBOX) | RGB | 0.861 | 0.752 | 0.849 | 0.982 | -1.000 | |
2024-08-16 | HccePose(BF) 2024 | RGB | 0.861 | 0.757 | 0.851 | 0.976 | 0.059 | |
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 | |
2023-12-14 | HccePose (ResNet34 & Default 2D BBOX) | RGB | 0.858 | 0.749 | 0.847 | 0.979 | -1.000 | |
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 | |
2023-09-25 | ZebraPoseSAT-EffnetB4(DefaultDetections-2023) | RGB | 0.850 | 0.737 | 0.836 | 0.978 | 0.250 | |
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 | RADet+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 | |
2023-09-26 | GPose2023-RGB | RGB | 0.831 | 0.704 | 0.817 | 0.973 | 0.219 | |
2022-10-06 | GDRNPP-PBRReal-RGB-MModel | RGB | 0.831 | 0.702 | 0.818 | 0.972 | 0.046 | |
2022-10-16 | GDRNPP-PBRReal-RGB-SModel | RGB | 0.827 | 0.699 | 0.817 | 0.967 | 0.120 | |
2023-09-24 | MRPE-PBRReal-RGB-SModel | RGB | 0.824 | 0.692 | 0.805 | 0.977 | 0.105 | |
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 | |
2023-09-27 | GDRNPPDet_PBRReal+GenFlow-MultiHypo-RGB | RGB | 0.760 | 0.618 | 0.736 | 0.926 | 4.009 | |
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 | |
2023-09-26 | ZebraPoseSAT-EffnetB4(PBR only DefaultDetections-2023) | RGB | 0.756 | 0.624 | 0.741 | 0.903 | 0.250 | |
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 | |
2023-09-27 | Megapose-GDRNPPDet_PBRReal+MultiHyp | RGB | 0.741 | 0.595 | 0.715 | 0.912 | 7.210 | |
2022-10-10 | RADet+PFA-PBR-RGB | RGB | 0.732 | 0.594 | 0.712 | 0.890 | 1.632 | |
2023-09-22 | Megapose-GDRNPPDet_PBRReal | RGB | 0.723 | 0.582 | 0.698 | 0.891 | 6.108 | |
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 | |
2023-09-24 | MRPE-PBR-RGB-SModel | RGB | 0.206 | 0.148 | 0.169 | 0.301 | 0.104 |
Tip: Hover over the numbers to see more decimal places.