Pose estimation (BOP 2019-2022) – YCB-Video

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 0.893 0.871 0.924 0.885 -1.000
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW-ICP RGB-D 0.861 0.831 0.903 0.849 2.736
2022-03-06 RCVPose (RCVPose(SISO)) RGB-D 0.859 0.857 0.861 0.859 -1.000
2021-12-27 FFB6D-CVPR21-SYNT+REAL-NoRefinement RGB-D 0.855 0.816 0.909 0.841 0.121
2020-08-18 CosyPose-ECCV20-SYNT+REAL-8VIEWS RGB 0.853 0.795 0.885 0.880 0.285
2020-08-18 CosyPose-ECCV20-SYNT+REAL-4VIEWS RGB 0.840 0.784 0.869 0.866 0.318
2022-04-24 Coupled Iterative Refinement (RGB) RGB 0.824 0.783 0.835 0.852 -1.000
2020-08-18 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.821 0.772 0.842 0.850 0.241
2022-01-30 ZebraPose RGB 0.815 0.751 0.830 0.864 0.250
2022-07-12 PFA-cosypose (7view-Bidir) RGB 0.807 0.758 0.814 0.849 -1.000
2021-12-22 SurfEmb-PBR-RGBD RGB-D 0.799 0.757 0.849 0.792 5.485
2020-08-17 Pix2Pose-BOP20_w/ICP-ICCV19 RGB-D 0.780 0.766 0.817 0.758 2.590
2020-02-09 W-PoseNet w/ICP RGB-D 0.779 0.779 0.824 0.734 2.884
2022-06-10 SC6D (monocular-RGB + PBR+REAL) RGB 0.765 0.695 0.796 0.804 0.351
2021-12-27 FFB6D-CVPR21-PBR-NoRefinement RGB-D 0.758 0.706 0.827 0.740 0.199
2020-08-19 Koenig-Hybrid-DL-PointPairs RGB-D 0.701 0.778 0.690 0.635 2.483
2020-03-29 EPOS-CVPR20 RGB 0.696 0.626 0.677 0.783 0.572
2019-10-18 Pix2Pose-BOP19_w/ICP-ICCV19 RGB-D 0.675 0.693 0.703 0.630 2.106
2021-12-22 SurfEmb-PBR-RGB RGB 0.647 0.548 0.620 0.773 5.427
2020-08-19 CDPNv2_BOP20 (RGB-only & ICP) (bbox) RGB-D 0.619 0.590 0.701 0.565 0.637
2022-06-10 SC6D (monocular-RGB PBR-only) RGB 0.612 0.506 0.589 0.741 0.370
2019-10-05 gao-cloudpose19 D 0.588 0.540 0.687 0.536 -1.000
2020-08-18 CosyPose-ECCV20-PBR-1VIEW RGB 0.574 0.516 0.554 0.653 0.342
2020-08-19 leaping from 2D to 6D (ycbv) RGB 0.543 0.443 0.499 0.687 0.132
2020-08-18 CDPNv2_BOP20 (RGB-only) (Zhigang-CDPNv2 (MODE 1, FCOS)) RGB 0.532 0.396 0.570 0.631 0.143
2020-08-19 CDPNv2_BOP20 (PBR-only & ICP) RGB-D 0.532 0.511 0.603 0.483 1.034
2019-10-14 FĂ©lix&Neves-ICRA2017-IET2019 RGB-D 0.510 0.708 0.438 0.384 54.509
2019-10-22 Sundermeyer-IJCV19+ICP RGB-D 0.505 0.460 0.581 0.475 1.581
2022-09-23 ZTE_PPF D 0.502 0.751 0.399 0.358 1.019
2022-06-16 TSR RGB-D 0.502 0.618 0.499 0.389 -1.000
2020-08-19 EPOS-BOP20-PBR RGB 0.499 0.411 0.464 0.621 0.764
2020-08-18 Pix2Pose-BOP20-ICCV19 RGB 0.457 0.372 0.429 0.571 1.025
2020-08-14 CDPN_BOP19 (RGB-only) RGB 0.457 0.329 0.478 0.564 0.208
2019-10-22 Vidal-Sensors18 D 0.450 0.623 0.380 0.347 3.719
2021-09-09 Sundermeyer-IJCV19 RGB 0.446 0.399 0.428 0.510 0.250
2019-10-22 Zhigang-CDPN-ICCV19 (Zhigang-CDPN-ICCV19) RGB 0.422 0.319 0.434 0.512 0.295
2022-03-04 PPF_3D_ICP (PPF_3D_ICP) D 0.411 0.631 0.333 0.268 0.218
2020-08-19 CDPNv2_BOP20 (PBR-only & RGB-only) (Zhigang-CDPNv2 (MODE 2, FCOS)) RGB 0.390 0.260 0.399 0.511 0.448
2019-08-22 Drost-CVPR10-Edges RGB-D 0.375 0.537 0.313 0.275 37.878
2019-08-20 Drost-CVPR10-3D-Only D 0.344 0.474 0.295 0.263 6.270
2019-10-17 Drost-CVPR10-3D-Only-Faster D 0.330 0.469 0.279 0.244 1.282
2019-08-21 Drost-CVPR10-3D-Edges D 0.316 0.454 0.261 0.233 37.479
2020-08-19 PointVoteNet2 (YCBV-PVN2-E6-HALF) RGB-D 0.308 0.444 0.260 0.219 -1.000
2020-08-18 SingleMultiPathEncoder-CVPR20 RGB 0.289 0.279 0.297 0.292 0.181
2019-10-10 DPOD (synthetic) RGB 0.222 0.196 0.216 0.256 0.341
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