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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

2D segmentation of seen objects – Core datasets

This leaderbord shows the overall ranking for Task 3 on the core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). For each method, the date of the latest considered submission is reported. If more submissions of a method are available for a dataset, the submission with the highest APCore score is considered. The metrics are defined in Section 2 of the BOP challenge 2022 paper. The reported time is the average image processing time averaged over the core datasets.

Date (UTC) Method Test image APCore APLM-O APT-LESS APTUD-L APIC-BIN APITODD APHB APYCB-V Time (s)
2022-10-17 DLZDet-PBRREAL RGB 0.514 0.460 0.584 0.732 0.316 0.239 0.600 0.669
2022-05-24 CosyPose-ECCV20-PBR-1VIEW RGB 0.362 0.375 0.517 0.306 0.316 0.122 0.471 0.429 0.055
2023-09-26 ZebraPoseSAT-EffnetB4(DefaultDete... RGB 0.619 0.516 0.721 0.718 0.493 0.462 0.689 0.731 0.080
2022-10-16 ZebraPoseSAT-EffnetB4 RGB 0.578 0.506 0.709 0.707 0.379 0.361 0.644 0.740 0.080
2022-10-16 ZebraPoseSAT-EffnetB4 (PBR_Only) RGB 0.523 0.506 0.629 0.514 0.379 0.361 0.644 0.626 0.080
2022-10-16 ZebraPoseSAT-EffnetB4 (DefaultDet... RGB 0.587 0.502 0.682 0.713 0.468 0.352 0.662 0.727 0.080
2022-10-16 ZebraPoseSAT-EffnetB4 (DefaultDet... RGB 0.538 0.502 0.655 0.517 0.468 0.352 0.662 0.609 0.080
2022-10-16 DLZDet-PBR+Real RGB 0.433 0.460 0.596 0.464 0.192 0.239 0.600 0.483
2023-09-27 ZebraPoseSAT-EffnetB4(PBR only De... RGB 0.579 0.516 0.701 0.536 0.493 0.462 0.689 0.658 0.080
2022-10-16 DLZDet-PBR1 RGB 0.429 0.460 0.584 0.452 0.192 0.239 0.600 0.477
2022-05-24 CosyPose-ECCV20-SYNT+REAL-1VIEW RGB 0.405 0.375 0.544 0.489 0.316 0.122 0.471 0.520 0.054

Tip: Hover over the numbers to see more decimal places.

Latest submissions to this leaderboard: