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Tasks on seen objects: 6D localization of seen objects 2D detection of seen objects 2D segmentation of seen objects
Tasks on unseen objects: 6D localization of unseen objects 2D detection of unseen objects 2D segmentation of unseen objects
Datasets: Core datasets LM LM-O T-LESS ITODD HB HOPE YCB-V RU-APC IC-BIN IC-MI TUD-L TYO-L

6D localization of seen objects – TUD-L

This leaderbord shows the ranking for Task 1 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
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 (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 Félix&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

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