Submission: CosyPose-ECCV20-SYNT+REAL-1VIEW/HB

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Submission name
Submission time (UTC) May 24, 2022, 5:28 p.m.
User yann_labbe
Task Model-based 2D detection of seen objects
Dataset HB
Training model type Default
Training image type Synthetic (only PBR images provided for BOP Challenge 2020 were used)
Description
Evaluation scores
AP:0.635
AP50:0.868
AP75:0.693
AP_large:0.716
AP_medium:0.643
AP_small:0.043
AR1:0.663
AR10:0.680
AR100:0.680
AR_large:0.861
AR_medium:0.682
AR_small:0.043
average_time_per_image:0.047

Method: CosyPose-ECCV20-SYNT+REAL-1VIEW

User yann_labbe
Publication Labbé et al, CosyPose: Consistent multi-view multi-object 6D pose estimation, ECCV 2020
Implementation https://github.com/ylabbe/cosypose
Training image modalities RGB
Test image modalities RGB
Description

The method is the same as CosyPose-ECCV20-PBR-1VIEW but we also add the additionnal real and synthetic images to the training data when an official training split is available: TUD-L, T-LESS and YCB-Video. On other datasets, the results reported are the same as CosyPose-ECCV20-1VIEW-PBR.

The models (detectors, coarse pose estimation, refiner) are pre-trained from the models trained on PBR images only.

Computer specifications CPU: 20-core Intel Xeon 6164 @ 3.2 GHz, GPU: Nvidia V100