6 DoF Pose Estimation on YCB-V BOP challenge 2020
86.1ARCosyPose
Evaluation Results
| Method | Links | |
|---|---|---|
| CosyPoseTrain data=mix, Refinement=ICP, Time (s)=2.7362022.03 | 86.1 | |
| UNOPoseSeg. Model=UNOSeg-SAM, Modality=RGB-D, Ref. Type=Image, Time (s)=3.72024.11 | 83.1 | |
| CosyPoseTrain data=mix, Refinement=None, Time (s)=0.2412022.03 | 82.1 | |
| UNOPoseSeg. Model=UNOSeg-FastSAM, Modality=RGB-D, Ref. Type=Image, Time (s)=1.112024.11 | 81.9 | |
| Pix2PoseTrain data=mix, Refinement=ICP, Time (s)=2.592022.03 | 78 | |
| Koenig-PPFSeg. Model=Retina/MRCNN, Modality=RGB-D, Ref. Type=Model, Time (s)=0.992024.11 | 70.1 | |
| EPOSTrain data=synt, Refinement=None, Time (s)=0.5722022.03 | 69.6 | |
| SAM-6D*Seg. Model=UNOSeg-SAM, Modality=RGB-D, Ref. Type=Posed Image, Time (s)=4.212024.11 | 68.1 | |
| PPF_3D_ICPSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=14.272024.11 | 66.8 | |
| FreeZeSeg. Model=UNOSeg-SAM, Modality=RGB-D, Ref. Type=Image, Time (s)=52.962024.11 | 65.5 | |
| GeDiSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=48.892024.11 | 60.6 | |
| FCGF+RANSACSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=10.962024.11 | 57.6 | |
| CosyPoseTrain data=PBR, Refinement=None, Time (s)=0.3422022.03 | 57.4 | |
| OSOP (Kabsch)Train data=None, Refinement=Mult. Hyp. + ICP, Time (s)=2.6062022.03 | 57.2 | |
| OSOP (Kabsch)Train data=None, Refinement=ICP, Time (s)=0.3022022.03 | 56.5 | |
| OSOP (Kabsch)Train data=None, Refinement=Mult. Hyp., Time (s)=2.5712022.03 | 54.2 | |
| CDPNv2Train data=PBR, Refinement=ICP, Time (s)=1.0342022.03 | 53.2 | |
| CDPNv2Train data=mix, Refinement=None, Time (s)=0.1432022.03 | 53.2 | |
| OSOP (Kabsch)Train data=None, Refinement=None, Time (s)=0.2672022.03 | 52.9 | |
| FCGF+MACSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=60.532024.11 | 51 | |
| AAETrain data=mix, Refinement=ICP, Time (s)=1.5812022.03 | 50.5 | |
| ZTE-PPFSeg. Model=MRCNN [28], Modality=D, Ref. Type=Model, Time (s)=0.742024.11 | 50.2 | |
| FPFH+RANSACSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=6.382024.11 | 50 | |
| EPOSTrain data=PBR, Refinement=None, Time (s)=0.7642022.03 | 49.9 | |
| FPFH+MACSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=136.942024.11 | 49.6 | |
| Ref. AlignCenterSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=2.692024.11 | 47.5 | |
| CDPNTrain data=synt, Refinement=None, Time (s)=0.2952022.03 | 42.2 | |
| CDPNv2Train data=PBR, Refinement=None, Time (s)=0.4482022.03 | 39 | |
| PPFSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=11.792024.11 | 38.3 | |
| AAETrain data=mix, Refinement=None, Time (s)=0.1792022.03 | 37.7 | |
| Drost, PPFTrain data=None, Refinement=ICP, 3D edges, Time (s)=6.272022.03 | 34.4 | |
| OSOP (PnP)Train data=None, Refinement=Mult. Hyp., Time (s)=5.3892022.03 | 33.2 | |
| Drost, PPFTrain data=None, Refinement=ICP, 3D edges, Time (s)=1.2822022.03 | 33 | |
| OSOP (PnP)Train data=None, Refinement=None, Time (s)=0.412022.03 | 29.6 | |
| Multi-Path AAETrain data=mix, Refinement=None, Time (s)=0.1812022.03 | 28.9 | |
| DPODTrain data=synt, Refinement=None, Time (s)=0.3412022.03 | 22.2 | |
| UTOPICSeg. Model=UNOSeg-SAM, Modality=D, Ref. Type=Image, Time (s)=42024.11 | 10.5 |