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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 – YCB-V

This leaderbord shows the ranking for Task 1 on YCB-V. 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
2023-04-22 VSW6D (VSW6D_rgbd) RGB-D 0.876 0.853 0.910 0.866 15.186
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
2023-03-10 Magic RGB 0.835 0.792 0.859 0.854 -1.000
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 Félix&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
Latest submissions to this leaderboard: