6D Object Pose Estimation on BOP Core Datasets Challenge (test)
80.5LM-O ScoreGDRNPP (YOLOX)
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| GDRNPP (YOLOX)Modality=RGB-D, Real training data=false, Single Model=false, Inference time (s)=4.582021.02 | 80.5 | 88.4 | 92.7 | 73.4 | 68.7 | 94.4 | 91 | 84.2 | |
| GDRNPP (YOLOX)Modality=RGB-D, Real training data=true, Single Model=false, Inference time (s)=4.582021.02 | 80.5 | 89.5 | 96.6 | 73.4 | 68.7 | 94.4 | 92.9 | 85.1 | |
| PFAModality=RGB-D, Real training data=false, Single Model=true, Inference time (s)=2.632021.02 | 79.7 | 80.2 | 89.3 | 67.6 | 46.9 | 86.9 | 82.6 | 76.2 | |
| PFAModality=RGB-D, Real training data=true, Single Model=true, Inference time (s)=2.322021.02 | 79.7 | 85 | 96 | 67.6 | 46.9 | 86.9 | 88.8 | 78.7 | |
| GDRNPP (BOP23)Modality=RGB-D, Real training data=false, Single Model=false, Inference time (s)=2.692021.02 | 79.4 | 89 | 93.1 | 73.7 | 70.4 | 95 | 90.1 | 84.4 | |
| GDRNPP (BOP23)Modality=RGB-D, Real training data=true, Single Model=false, Inference time (s)=2.672021.02 | 79.4 | 91.4 | 96.4 | 73.7 | 70.4 | 95 | 92.8 | 85.6 | |
| GDRNPP (BOP22)Modality=RGB-D, Real training data=false, Single Model=false, Inference time (s)=6.262021.02 | 77.5 | 85.2 | 92.9 | 72.2 | 67.9 | 92.6 | 90.6 | 82.7 | |
| GDRNPP (BOP22)Modality=RGB-D, Real training data=true, Single Model=false, Inference time (s)=6.262021.02 | 77.5 | 87.4 | 96.6 | 72.2 | 67.9 | 92.6 | 92.1 | 83.7 | |
| SurfEmbModality=RGB-D, Real training data=false, Single Model=true, Inference time (s)=9.052021.02 | 75.8 | 82.8 | 85.4 | 65.6 | 49.8 | 86.7 | 80.6 | 75.2 | |
| SurfEmbModality=RGB-D, Real training data=true, Single Model=true, Inference time (s)=9.052021.02 | 75.8 | 83.3 | 93.3 | 65.6 | 49.8 | 86.7 | 82.4 | 76.7 | |
| ZebraPoseModality=RGB-D, Real training data=true, Single Model=false, Inference time (s)=0.52021.02 | 75.2 | 72.7 | 94.8 | 65.2 | 52.7 | 88.3 | 86.6 | 76.5 | |
| PFAModality=RGB, Real training data=false, Single Model=true, Inference time (s)=3.52021.02 | 74.5 | 71.9 | 73.2 | 60 | 35.3 | 84.1 | 64.8 | 66.3 | |
| PFAModality=RGB, Real training data=true, Single Model=true, Inference time (s)=3.022021.02 | 74.5 | 77.8 | 83.9 | 60 | 35.3 | 84.1 | 80.6 | 70.9 | |
| CIRModality=RGB-D, Real training data=true, Single Model=true2021.02 | 73.4 | 77.6 | 96.8 | 67.6 | 38.1 | 75.7 | 89.3 | 74.1 | |
| RCVPose3DModality=RGB-D, Real training data=false, Single Model=false, Inference time (s)=1.342021.02 | 72.9 | 70.8 | 96.6 | 73.3 | 53.6 | 86.3 | 84.3 | 76.8 | |
| ZebraPoseModality=RGB, Real training data=false, Single Model=false2021.02 | 72.1 | 72.3 | 71.7 | 54.5 | 41 | 88.2 | 69.1 | 67 | |
| ZebraPoseModality=RGB, Real training data=true, Single Model=false, Inference time (s)=0.252021.02 | 72.1 | 80.6 | 85 | 54.5 | 41 | 88.2 | 83 | 72 | |
| CosyPoseModality=RGB-D, Real training data=true, Single Model=true, Inference time (s)=13.742021.02 | 71.4 | 70.1 | 93.9 | 64.7 | 31.3 | 71.2 | 86.1 | 69.8 | |
| GDRNPP (Ours)Modality=RGB, Real training data=false, Single Model=false, Inference time (s)=0.282021.02 | 71.3 | 79.6 | 75.2 | 62.3 | 44.8 | 86.9 | 71.3 | 70.2 | |
| GDRNPP (Ours)Modality=RGB, Real training data=true, Single Model=false, Inference time (s)=0.232021.02 | 71.3 | 78.6 | 83.1 | 62.3 | 44.8 | 86.9 | 82.5 | 72.8 | |
| FreeZeV2Input=RGB-D, GPU=A40, train-free=true, Time=1.5s2025.12 | 69.4 | 56.3 | 93.5 | 54.5 | 60 | 76.9 | 87.4 | 64 | |
| GDRNPP (S.M.)Modality=RGB, Real training data=true, Single Model=true, Inference time (s)=0.232021.02 | 68.6 | 77.6 | 82.7 | 61.7 | 26 | 80.9 | 76.8 | 67.8 | |
| CRT-6DModality=RGB, Real training data=true, Single Model=true, Inference time (s)=0.062021.02 | 66 | 64.4 | 78.9 | 53.7 | 20.8 | 60.3 | 75.2 | 59.9 | |
| SurfEmbModality=RGB, Real training data=false, Single Model=true, Inference time (s)=8.892021.02 | 65.6 | 74.1 | 71.5 | 58.5 | 38.7 | 79.3 | 65.3 | 64.7 | |
| SurfEmbModality=RGB, Real training data=true, Single Model=true, Inference time (s)=8.892021.02 | 65.6 | 77 | 80.5 | 58.5 | 38.7 | 79.3 | 71.8 | 67.3 | |
| CosyPoseModality=RGB, Real training data=false, Single Model=false, Inference time (s)=0.482021.02 | 63.3 | 64 | 68.5 | 58.3 | 21.6 | 65.6 | 57.4 | 57 | |
| CosyPoseModality=RGB, Real training data=true, Single Model=true, Inference time (s)=0.452021.02 | 63.3 | 72.8 | 82.3 | 58.3 | 21.6 | 65.6 | 82.1 | 63.7 | |
| Koenig-HybridModality=RGB-D, Real training data=true, Single Model=true, Inference time (s)=0.632021.02 | 63.1 | 65.5 | 92 | 43 | 48.3 | 65.1 | 70.1 | 63.9 | |
| CDPNv2Modality=RGB, Real training data=false, Single Model=false, Inference time (s)=0.982021.02 | 62.4 | 40.7 | 58.8 | 47.3 | 10.2 | 72.2 | 39 | 47.2 | |
| CDPNv2Modality=RGB, Real training data=true, Single Model=false, Inference time (s)=0.942021.02 | 62.4 | 47.8 | 77.2 | 47.3 | 10.2 | 72.2 | 53.2 | 52.9 | |
| Pix2PoseModality=RGB-D, Real training data=false, Single Model=false, Inference time (s)=4.842021.02 | 58.8 | 51.2 | 82 | 39 | 35.1 | 69.5 | 78 | 59.1 | |
| DPODv2Modality=RGB, Real training data=false, Single Model=false2021.02 | 58.4 | 63.6 | — | — | — | 72.5 | — | — | |
| Vidal SensorsModality=D, Real training data=Not using provided images, Single Model=false, Inference time (s)=3.222021.02 | 58.2 | 53.8 | 87.6 | 39.3 | 43.5 | 70.6 | 45 | 56.9 | |
| Geo6DPoseInput=RGB-D, GPU=A4000, train-free=true, Time=0.92s2025.12 | 55.2 | 47.8 | 66.3 | 43 | 40.2 | 68.9 | 59.8 | 53.7 | |
| EPOSModality=RGB, Real training data=false, Single Model=true, Inference time (s)=1.872021.02 | 54.7 | 46.7 | 55.8 | 36.3 | 18.6 | 58 | 49.9 | 45.7 | |
| DrostModality=RGB-D, Real training data=Not using provided images, Single Model=false, Inference time (s)=87.572021.02 | 51.5 | 50 | 85.1 | 36.8 | 57 | 67.1 | 37.5 | 55 | |
| PicoPoseInput=RGB, GPU=3090, train-free=false, Time=0.51s2025.12 | 46.3 | 39.7 | 53.6 | 36.4 | 31 | 66.5 | 58.7 | 47.5 | |
| FoundPoseInput=RGB, GPU=P100, train-free=true, Time=1.69s2025.12 | 39.7 | 33.8 | 46.9 | 23.9 | 20.4 | 50.8 | 45.2 | 37.3 | |
| Pix2PoseModality=RGB, Real training data=true, Single Model=false, Inference time (s)=1.222021.02 | 36.3 | 34.4 | 42 | 22.6 | 13.4 | 44.6 | 45.7 | 34.2 | |
| DZOPInput=RGB, train-free=true2025.12 | 32.8 | 26.7 | — | — | — | — | 45.2 | — | |
| ZS6DInput=RGB, train-free=true2025.12 | 29.8 | 21 | — | — | — | — | 32.4 | — | |
| GigaPoseInput=RGB, GPU=V100, train-free=false, Time=0.38s2025.12 | 29.6 | 26.4 | 30 | 22.3 | 17.5 | 34.1 | 27.8 | 26.8 |