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ResearchFormerly WizWand

6 DoF Pose Estimation on YCB-V BOP challenge 2020

86.1ARCosyPose
7.47627.88848.368.712Mar 29, 2022Sep 7, 2022Feb 16, 2023Jul 28, 2023Jan 6, 2024Jun 16, 2024Nov 25, 2024
Updated 8mo ago

Evaluation results

MethodLinks
CosyPoseTrain data=mix, Refinement=ICP, Time (s)=2.7362022.0386.1
UNOPoseSeg. Model=UNOSeg-SAM, Modality=RGB-D, Ref. Type=Image, Time (s)=3.72024.1183.1
CosyPoseTrain data=mix, Refinement=None, Time (s)=0.2412022.0382.1
UNOPoseSeg. Model=UNOSeg-FastSAM, Modality=RGB-D, Ref. Type=Image, Time (s)=1.112024.1181.9
Pix2PoseTrain data=mix, Refinement=ICP, Time (s)=2.592022.0378
Koenig-PPFSeg. Model=Retina/MRCNN, Modality=RGB-D, Ref. Type=Model, Time (s)=0.992024.1170.1
EPOSTrain data=synt, Refinement=None, Time (s)=0.5722022.0369.6
SAM-6D*Seg. Model=UNOSeg-SAM, Modality=RGB-D, Ref. Type=Posed Image, Time (s)=4.212024.1168.1
PPF_3D_ICPSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=14.272024.1166.8
FreeZeSeg. Model=UNOSeg-SAM, Modality=RGB-D, Ref. Type=Image, Time (s)=52.962024.1165.5
GeDiSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=48.892024.1160.6
FCGF+RANSACSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=10.962024.1157.6
CosyPoseTrain data=PBR, Refinement=None, Time (s)=0.3422022.0357.4
OSOP (Kabsch)Train data=None, Refinement=Mult. Hyp. + ICP, Time (s)=2.6062022.0357.2
OSOP (Kabsch)Train data=None, Refinement=ICP, Time (s)=0.3022022.0356.5
OSOP (Kabsch)Train data=None, Refinement=Mult. Hyp., Time (s)=2.5712022.0354.2
CDPNv2Train data=PBR, Refinement=ICP, Time (s)=1.0342022.0353.2
CDPNv2Train data=mix, Refinement=None, Time (s)=0.1432022.0353.2
OSOP (Kabsch)Train data=None, Refinement=None, Time (s)=0.2672022.0352.9
FCGF+MACSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=60.532024.1151
AAETrain data=mix, Refinement=ICP, Time (s)=1.5812022.0350.5
ZTE-PPFSeg. Model=MRCNN [28], Modality=D, Ref. Type=Model, Time (s)=0.742024.1150.2
FPFH+RANSACSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=6.382024.1150
EPOSTrain data=PBR, Refinement=None, Time (s)=0.7642022.0349.9
FPFH+MACSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=136.942024.1149.6
Ref. AlignCenterSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=2.692024.1147.5
CDPNTrain data=synt, Refinement=None, Time (s)=0.2952022.0342.2
CDPNv2Train data=PBR, Refinement=None, Time (s)=0.4482022.0339
PPFSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=11.792024.1138.3
AAETrain data=mix, Refinement=None, Time (s)=0.1792022.0337.7
Drost, PPFTrain data=None, Refinement=ICP, 3D edges, Time (s)=6.272022.0334.4
OSOP (PnP)Train data=None, Refinement=Mult. Hyp., Time (s)=5.3892022.0333.2
Drost, PPFTrain data=None, Refinement=ICP, 3D edges, Time (s)=1.2822022.0333
OSOP (PnP)Train data=None, Refinement=None, Time (s)=0.412022.0329.6
Multi-Path AAETrain data=mix, Refinement=None, Time (s)=0.1812022.0328.9
DPODTrain data=synt, Refinement=None, Time (s)=0.3412022.0322.2
UTOPICSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=42024.1110.5