6D Pose Estimation on BOP benchmark 2019 (test)
78.8LM-O ARFoundationPose
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| FoundationPoseUnseen objects=true, Modality=RGBD, 2D detection=Mask R-CNN2023.12 | 78.8 | 83 | — | — | — | — | 88 | 83.3 | |
| SurfEmb + ICPUnseen objects=false, Modality=RGBD, 2D detection=Mask R-CNN2023.12 | 75.8 | 82.8 | — | — | — | — | 80.6 | 79.7 | |
| SAM-6DInput Type=RGB-D, Detection / Segmentation=SAM-6D (SAM), Refinement=false2023.11 | 69.9 | 51.5 | 90.4 | 58.8 | 60.2 | 77.6 | 84.5 | 70.4 | |
| SAM-6DInput Type=RGB-D, Detection / Segmentation=SAM-6D (SAM), Detection Mode=Zero-Shot, Pose Refinement=No2023.11 | 69.9 | 51.5 | 90.4 | 58.8 | 60.2 | 77.6 | 84.5 | 70.4 | |
| SAM-6DInput Type=RGB-D, Detection / Segmentation=SAM-6D (FastSAM), Refinement=false2023.11 | 66.7 | 48.5 | 82.9 | 51 | 57.2 | 73.6 | 83.4 | 66.2 | |
| SAM-6DInput Type=RGB-D, Detection / Segmentation=SAM-6D (FastSAM), Detection Mode=Zero-Shot, Pose Refinement=No2023.11 | 66.7 | 48.5 | 82.9 | 51 | 57.2 | 73.6 | 83.4 | 66.2 | |
| SAM-6DInput Type=RGB-D, Detection / Segmentation=MaskRCNN [16], Refinement=false2023.11 | 66.5 | 66 | 80.9 | 61.9 | 31.9 | 81.8 | 79.6 | 66.9 | |
| SAM-6DInput Type=RGB-D, Detection / Segmentation=MaskRCNN [16], Detection Mode=Supervised, Pose Refinement=No2023.11 | 66.5 | 66 | 80.9 | 61.9 | 31.9 | 81.8 | 79.6 | 66.9 | |
| GCPoseUnseen objects=true, Modality=RGBD, 2D detection=Mask R-CNN2023.12 | 65.2 | 67.9 | — | — | — | — | — | — | |
| SAM-6DInput Type=RGB-D, Detection / Segmentation=CNOS (FastSAM) [40], Refinement=false2023.11 | 65.1 | 47.9 | 82.5 | 49.7 | 56.2 | 73.8 | 81.5 | 65.3 | |
| SAM-6DInput Type=RGB-D, Detection / Segmentation=CNOS (FastSAM) [10], Detection Mode=Zero-Shot, Pose Refinement=No2023.11 | 65.1 | 47.9 | 82.5 | 49.7 | 56.2 | 73.8 | 81.5 | 65.3 | |
| SAM-6DInput Type=RGB-D, Detection / Segmentation=ZeroPose [5], Refinement=false2023.11 | 63.5 | 43 | 80.2 | 51.8 | 48.4 | 69.1 | 79.2 | 62.2 | |
| SAM-6DInput Type=RGB-D, Detection / Segmentation=ZeroPose [5], Detection Mode=Zero-Shot, Pose Refinement=No2023.11 | 63.5 | 43 | 80.2 | 51.8 | 48.4 | 69.1 | 79.2 | 62.2 | |
| MegaPose+*Input Type=RGB-D, Detection / Segmentation=CNOS (FastSAM) [40], Refinement=true, Source=BOP Leaderboard2023.11 | 62.6 | 48.7 | 85.1 | 46.7 | 46.8 | 73 | 76.4 | 62.8 | |
| MegaPoseInput Type=RGB-D, Detection / Segmentation=CNOS (FastSAM) [10], Detection Mode=Zero-Shot, Pose Refinement=Yes, BOP Leaderboard=true2023.11 | 62.6 | 48.7 | 85.1 | 46.7 | 46.8 | 73 | 76.4 | 62.8 | |
| GigaPose+Input Type=RGB, Detection / Segmentation=CNOS (FastSAM) [40], Refinement=true2023.11 | 59.9 | 57 | 63.5 | 46.7 | 39.7 | 72.2 | 66.3 | 57.9 | |
| GigaPoseInput Type=RGB, Detection / Segmentation=CNOS (FastSAM) [10], Detection Mode=Zero-Shot, Pose Refinement=Yes2023.11 | 59.9 | 57 | 63.5 | 46.7 | 39.7 | 72.2 | 66.3 | 57.9 | |
| (PPF, Sift) + ZephyrUnseen objects=true, Modality=RGBD, 2D detection=Mask R-CNN2023.12 | 59.8 | — | — | — | — | — | 51.6 | — | |
| MegaPose+Input Type=RGB-D, Detection / Segmentation=MaskRCNN [16], Refinement=true2023.11 | 58.3 | 54.3 | 71.2 | 37.1 | 40.4 | 75.7 | 63.3 | 57.2 | |
| MegaPoseInput Type=RGB-D, Detection / Segmentation=MaskRCNN [16], Detection Mode=Supervised, Pose Refinement=Yes2023.11 | 58.3 | 54.3 | 71.2 | 37.1 | 40.4 | 75.7 | 63.3 | 57.2 | |
| MegaPose-RGBDUnseen objects=true, Modality=RGBD, 2D detection=Mask R-CNN2023.12 | 58.3 | 54.3 | — | — | — | — | 63.3 | 58.6 | |
| ZeroPose+Input Type=RGB-D, Detection / Segmentation=MaskRCNN [16], Refinement=true2023.11 | 56.2 | 53.3 | 87.2 | 41.8 | 43.6 | 68.2 | 58.4 | 58.4 | |
| ZeroPoseInput Type=RGB-D, Detection / Segmentation=MaskRCNN [16], Detection Mode=Supervised, Pose Refinement=Yes2023.11 | 56.2 | 53.3 | 87.2 | 41.8 | 43.6 | 68.2 | 58.4 | 58.4 | |
| ZeroPose+*Input Type=RGB-D, Detection / Segmentation=CNOS (FastSAM) [40], Refinement=true, Source=BOP Leaderboard2023.11 | 53.8 | 40 | 83.5 | 39.2 | 52.1 | 65.3 | 65.3 | 57 | |
| ZeroPoseInput Type=RGB-D, Detection / Segmentation=CNOS (FastSAM) [10], Detection Mode=Zero-Shot, Pose Refinement=Yes, BOP Leaderboard=true2023.11 | 53.8 | 40 | 83.5 | 39.2 | 52.1 | 65.3 | 65.3 | 57 | |
| MegaPose+Input Type=RGB, Detection / Segmentation=MaskRCNN [16], Refinement=true2023.11 | 53.7 | 62.2 | 58.4 | 43.6 | 30.1 | 72.9 | 60.4 | 54.5 | |
| MegaPoseInput Type=RGB, Detection / Segmentation=MaskRCNN [16], Detection Mode=Supervised, Pose Refinement=Yes2023.11 | 53.7 | 62.2 | 58.4 | 43.6 | 30.1 | 72.9 | 60.4 | 54.5 | |
| MegaPose**Input Type=RGB, Detection / Segmentation=CNOS (FastSAM) [40], Refinement=false, Source=BOP Leaderboard2023.11 | 49.9 | 47.7 | 65.3 | 36.7 | 31.5 | 65.4 | 60.1 | 50.9 | |
| MegaPoseInput Type=RGB, Detection / Segmentation=CNOS (FastSAM) [10], Detection Mode=Zero-Shot, Pose Refinement=Yes, BOP Leaderboard=true2023.11 | 49.9 | 47.7 | 65.3 | 36.7 | 31.5 | 65.4 | 60.1 | 50.9 | |
| OVE6DUnseen objects=true, Modality=RGBD, 2D detection=Mask R-CNN2023.12 | 49.6 | 52.3 | — | — | — | — | — | — | |
| ZeroPose+Input Type=RGB-D, Detection / Segmentation=ZeroPose [5], Refinement=true2023.11 | 49.1 | 34 | 74.5 | 39 | 42.9 | 61 | 57.7 | 51.2 | |
| ZeroPoseInput Type=RGB-D, Detection / Segmentation=ZeroPose [5], Detection Mode=Zero-Shot, Pose Refinement=Yes2023.11 | 49.1 | 34 | 74.5 | 39 | 42.9 | 61 | 57.7 | 51.2 | |
| OSOP + ICPUnseen objects=true, Modality=RGBD, 2D detection=Mask R-CNN2023.12 | 48.2 | — | — | — | — | — | 57.2 | — | |
| GigaPoseInput Type=RGB, Detection / Segmentation=CNOS (FastSAM) [40], Refinement=false2023.11 | 29.9 | 27.3 | 30.2 | 23.1 | 18.8 | 34.8 | 29 | 27.6 | |
| GigaPoseInput Type=RGB, Detection / Segmentation=CNOS (FastSAM) [10], Detection Mode=Zero-Shot, Pose Refinement=No2023.11 | 29.9 | 27.3 | 30.2 | 23.1 | 18.8 | 34.8 | 29 | 27.6 | |
| ZeroPoseInput Type=RGB-D, Detection / Segmentation=MaskRCNN [16], Refinement=false2023.11 | 26.1 | 24.3 | 61.1 | 24.7 | 26.4 | 38.2 | 29.5 | 32.6 | |
| ZeroPoseInput Type=RGB-D, Detection / Segmentation=MaskRCNN [16], Detection Mode=Supervised, Pose Refinement=No2023.11 | 26.1 | 24.3 | 61.1 | 24.7 | 26.4 | 38.2 | 29.5 | 32.6 | |
| ZeroPoseInput Type=RGB-D, Detection / Segmentation=ZeroPose [5], Refinement=false2023.11 | 26 | 17.8 | 41.2 | 17.7 | 38 | 43.9 | 25.7 | 25.7 | |
| ZeroPoseInput Type=RGB-D, Detection / Segmentation=ZeroPose [5], Detection Mode=Zero-Shot, Pose Refinement=No2023.11 | 26 | 17.8 | 41.2 | 17.7 | 38 | 43.9 | 25.7 | 25.7 | |
| MegaPose*Input Type=RGB, Detection / Segmentation=CNOS (FastSAM) [40], Refinement=false, Source=BOP Leaderboard2023.11 | 22.9 | 17.7 | 25.8 | 15.2 | 10.8 | 25.1 | 28.1 | 20.8 | |
| MegaPoseInput Type=RGB, Detection / Segmentation=CNOS (FastSAM) [10], Detection Mode=Zero-Shot, Pose Refinement=No, BOP Leaderboard=true2023.11 | 22.9 | 17.7 | 25.8 | 15.2 | 10.8 | 25.1 | 28.1 | 20.8 | |
| MegaPoseInput Type=RGB, Detection / Segmentation=MaskRCNN [16], Refinement=false2023.11 | 18.7 | 19.7 | 20.5 | 15.3 | 8 | 18.6 | 13.9 | 16.2 | |
| MegaPoseInput Type=RGB, Detection / Segmentation=MaskRCNN [16], Detection Mode=Supervised, Pose Refinement=No2023.11 | 18.7 | 19.7 | 20.5 | 15.3 | 8 | 18.6 | 13.9 | 16.2 |