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)
2022-10-14 GDRNPP-PBRReal-RGBD-MModel RGB-D 0.921 0.886 0.957 0.919 8.000
2022-10-15 GDRNPP-PBR-RGBD-MModel RGB-D 0.906 0.875 0.949 0.895 6.509
2022-10-12 GDRNPP-PBRReal-RGBD-MModel-OfficialDet RGB-D 0.896 0.862 0.932 0.894 6.620
2022-12-16 SMPose (SMPose_Dec16_fixbug_bestnow) RGB-D 0.894 0.860 0.931 0.890 2.123
2022-04-24 Coupled Iterative Refinement RGB-D 0.893 0.871 0.924 0.885 -1.000
2022-10-05 Extended FCOS+PFA-MixPBR-RGBD RGB-D 0.888 0.863 0.920 0.881 1.321
2022-10-12 Extended FCOS+PFA-MixPBR-RGBD-Fast RGB-D 0.880 0.851 0.915 0.874 0.417
2022-10-15 ZebraPoseSAT-EffnetB4 + ICP (DefaultDetection) RGB-D 0.866 0.831 0.903 0.864 0.500
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
2022-10-04 RCVPose 3D_SingleModel_VIVO_PBR RGB-D 0.843 0.841 0.846 0.843 0.911
2020-08-18 CosyPose-ECCV20-SYNT+REAL-4VIEWS RGB 0.840 0.784 0.869 0.866 0.318
2022-10-14 GDRNPP-PBRReal-RGBD-MModel-Fast RGB-D 0.834 0.787 0.876 0.839 0.152
2022-10-15 ZebraPoseSAT-EffnetB4 RGB 0.830 0.773 0.844 0.873 0.250
2022-10-14 ZebraPose-SAT RGB 0.828 0.765 0.845 0.875 0.250
2022-10-10 Extended FCOS+PFA-PBR-RGBD RGB-D 0.826 0.792 0.867 0.819 1.888
2022-10-08 GDRNPP-PBRReal-RGB-MModel (GDRNPP-PBRReal-RGB-MModel-YCBV) RGB 0.825 0.760 0.846 0.869 0.118
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
2022-10-12 GDRNPP-PBRReal-RGBD-SModel RGB-D 0.817 0.761 0.876 0.814 0.145
2022-10-15 ZebraPoseSAT-EffnetB4 (DefaultDetection) RGB 0.816 0.759 0.828 0.860 0.250
2022-01-30 ZebraPose RGB 0.815 0.751 0.830 0.864 0.250
2022-07-12 PFA-cosypose (7view) RGB 0.807 0.758 0.814 0.849 -1.000
2022-10-05 Extended FCOS+PFA-MixPBR-RGB RGB 0.806 0.751 0.809 0.856 2.153
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
2022-10-07 CRT-6D RGB 0.752 0.706 0.776 0.774 0.028
2022-10-13 GDRNPP-PBR-RGB-MModel (ycbv_pbr_rgb_mmodel) RGB 0.713 0.599 0.708 0.831 0.277
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
2022-10-15 ZebraPoseSAT-EffnetB4 (PBR_Only) RGB 0.691 0.607 0.686 0.780 -1.000
2019-10-18 Pix2Pose-BOP19_w/ICP-ICCV19 RGB-D 0.675 0.693 0.703 0.630 2.106
2022-10-10 Extended FCOS+PFA-PBR-RGB RGB 0.648 0.550 0.623 0.771 3.001
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