6D Pose Estimation on BOP challenge
79.2LM-OWDR-Pose
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| WDR-PoseRGB-D Input=true, 2D Localization=YOLOX, Pose Initialization=WDR-Pose, Pose Refinement=PFA+Kabsch, Novel Objects=false2024.03 | 79.2 | 84.9 | 96.3 | 70.6 | 52.6 | 86.7 | 89.9 | 80 | |
| SurfEmbPose Initialization=SurfEmb [3], Initialization Novel objects=false, Pose Refinement=BFGS+ICP, Refinement Novel objects=false, Refinement RGB-D Input=true2022.12 | 75.8 | 82.8 | 85.4 | 65.6 | 49.8 | 86.7 | 80.6 | 75.2 | |
| GenFlowRGB-D Input=true, 2D Localization=YOLOX, Pose Initialization=GenFlow, Pose Refinement=GenFlow+MH+Kabsch, Novel Objects=true2024.03 | 74.2 | 78.3 | 92.8 | 64.9 | 65.2 | 92 | 88.3 | 79.4 | |
| ZebraPoseRGB-D Input=false, 2D Localization=YOLOX, Pose Initialization=ZebraPose, Novel Objects=false2024.03 | 72.9 | 81.1 | 75.6 | 59.2 | 50.4 | 92.1 | 72.9 | 72 | |
| MegaPosePose Initialization=CosyPose [4], Initialization Novel objects=false, Pose Refinement=MegaPose refiner, Refinement Novel objects=true, Refinement RGB-D Input=true2022.12 | 71.2 | 63.8 | 85 | 55.1 | 39.9 | 73.2 | 69.2 | 66 | |
| MegaPoseRGB-D Input=true, 2D Localization=YOLOX, Pose Initialization=MegaPose, Pose Refinement=MegaPose+MH+Teaserpp, Novel Objects=true2024.03 | 70.4 | 71.8 | 91.6 | 59.2 | 55.3 | 87.2 | 85.5 | 74.4 | |
| GenFlowRGB-D Input=false, 2D Localization=YOLOX, Pose Initialization=GenFlow, Pose Refinement=GenFlow+MH, Novel Objects=true2024.03 | 68.3 | 82.8 | 77.8 | 59.6 | 50.1 | 89.7 | 70.8 | 71.3 | |
| SurfEmbPose Initialization=SurfEmb [3], Initialization Novel objects=false, Pose Refinement=BFGS, Refinement Novel objects=false, Refinement RGB-D Input=false2022.12 | 66.3 | 73.5 | 71.5 | 58.8 | 41.3 | 79.1 | 64.7 | 65 | |
| SurfEmbRGB-D Input=false, 2D Localization=Mask-RCNN, Pose Initialization=SurfEmb, Pose Refinement=BFGS, Novel Objects=false2024.03 | 66.3 | 73.5 | 71.5 | 58.8 | 41.3 | 79.1 | 64.7 | 65 | |
| MegaPosePose Initialization=CosyPose [4], Initialization Novel objects=false, Pose Refinement=MegaPose refiner, Refinement Novel objects=true, Refinement RGB-D Input=false2022.12 | 65.5 | 72 | 70.1 | 57.3 | 28.4 | 67 | 56.8 | 59.6 | |
| MegaPoseRGB-D Input=false, 2D Localization=YOLOX, Pose Initialization=MegaPose, Pose Refinement=MegaPose+MH, Novel Objects=true2024.03 | 64.8 | 78.1 | 74.1 | 56.9 | 42.2 | 86.3 | 70.2 | 67.5 | |
| CosyPosePose Initialization=CosyPose [4], Initialization Novel objects=false, Pose Refinement=CosyPose, Refinement Novel objects=false, Refinement RGB-D Input=false2022.12 | 63.3 | 64 | 68.3 | 58.3 | 21.6 | 65.6 | 57.4 | 57 | |
| CosyPoseRGB-D Input=false, 2D Localization=Mask-RCNN, Pose Initialization=CosyPose, Pose Refinement=CosyPose, Novel Objects=false2024.03 | 63.3 | 64 | 68.5 | 58.3 | 21.6 | 65.6 | 57.4 | 57 | |
| GigaPoseDetections=CNOS [45], Refinement=GenFlow + 5 Hypotheses [41], Mean Run-time=10.6 s2023.11 | 63.1 | 58.2 | 66.4 | 49.8 | 45.3 | 75.6 | 65.2 | 60.5 | |
| GenFlowRGB-D Input=true, 2D Localization=CNOS-det., Pose Initialization=GenFlow, Pose Refinement=GenFlow+Kabsch+MH, Novel Objects=true2024.03 | 62.9 | 51.7 | 85.8 | 53.3 | 55.9 | 78.2 | 82.5 | 67.2 | |
| MegaPoseRGB-D Input=true, 2D Localization=CNOS-det., Pose Initialization=MegaPose, Pose Refinement=MegaPose+MH+Teaserpp, Novel Objects=true2024.03 | 62.6 | 48.7 | 85.1 | 46.7 | 46.8 | 73 | 76.4 | 62.8 | |
| ZephyrPose Initialization=(PPF, Sift) + Zephyr [21], Initialization Novel objects=true, Refinement Novel objects=true, Refinement RGB-D Input=true2022.12 | 59.8 | — | — | — | — | — | 51.6 | — | |
| GigaPoseDetections=CNOS [45], Refinement=MegaPose + 5 Hypotheses [28], Mean Run-time=7.7 s2023.11 | 59.8 | 56.5 | 63.1 | 47.3 | 39.7 | 72.2 | 66.1 | 57.8 | |
| MegaPosePose Initialization=MegaPose coarse, Initialization Novel objects=true, Pose Refinement=MegaPose refiner, Refinement Novel objects=true, Refinement RGB-D Input=true2022.12 | 58.3 | 54.3 | 71.2 | 37.1 | 40.4 | 75.7 | 63.3 | 57.2 | |
| GenFlowRGB-D Input=false, 2D Localization=CNOS-det., Pose Initialization=GenFlow, Pose Refinement=GenFlow+MH, Novel Objects=true2024.03 | 57.5 | 53 | 69.1 | 45.6 | 40.8 | 74.5 | 63.9 | 57.8 | |
| MegaPosePose Initialization=(PPF, Sift) + MegaPose coarse, Initialization Novel objects=true, Pose Refinement=MegaPose refiner, Refinement Novel objects=true, Refinement RGB-D Input=true2022.12 | 57 | — | — | — | — | — | 62.3 | — | |
| MegaPoseDetections=CNOS [45], Refinement=GenFlow + 5 Hypotheses [41], Mean Run-time=20.8 s2023.11 | 56.3 | 52.3 | 68.4 | 45.3 | 39.5 | 73.9 | 63.3 | 57 | |
| MegaPoseDetections=CNOS [45], Refinement=MegaPose + 5 Hypotheses [28], Mean Run-time=21.9 s2023.11 | 56 | 50.7 | 68.4 | 41.4 | 33.8 | 70.4 | 62.1 | 54.7 | |
| MegaPoseRGB-D Input=false, 2D Localization=CNOS-det., Pose Initialization=MegaPose, Pose Refinement=MegaPose+MH, Novel Objects=true2024.03 | 56 | 50.8 | 68.7 | 41.9 | 34.6 | 70.6 | 62 | 54.9 | |
| GigaPoseDetections=CNOS [45], Refinement=MegaPose [28], Mean Run-time=2.3 s2023.11 | 55.7 | 54.1 | 58 | 45 | 37.6 | 69.3 | 63.2 | 54.7 | |
| ZeroPoseRGB-D Input=true, 2D Localization=CNOS-seg., Pose Initialization=ZeroPose, Pose Refinement=MegaPose+MH, Novel Objects=true2024.03 | 53.8 | 40 | 83.5 | 39.2 | 52.1 | 65.3 | 65.3 | 57 | |
| MegaPosePose Initialization=MegaPose coarse, Initialization Novel objects=true, Pose Refinement=MegaPose refiner, Refinement Novel objects=true, Refinement RGB-D Input=false2022.12 | 53.7 | 62.2 | 58.4 | 43.6 | 30.1 | 72.9 | 60.4 | 54.5 | |
| CosyPosePose Initialization=CosyPose [4], Initialization Novel objects=false, Refinement RGB-D Input=false2022.12 | 53.6 | 52 | 57.6 | 53 | 13.1 | 33.5 | 33.3 | 42.3 | |
| MegaPoseDetections=CNOS [45], Refinement=MegaPose [28], Mean Run-time=17.0 s2023.11 | 49.9 | 47.7 | 65.3 | 36.7 | 31.5 | 65.4 | 60.1 | 50.9 | |
| OSOPPose Initialization=OSOP [17], Initialization Novel objects=true, Pose Refinement=MH+ICP, Refinement Novel objects=true, Refinement RGB-D Input=true2022.12 | 48.2 | — | — | — | — | 60.5 | 57.2 | — | |
| OSOPRGB-D Input=true, 2D Localization=OSOP, Pose Initialization=OSOP, Pose Refinement=OSOP+Kabsch+MH+ICP, Novel Objects=true2024.03 | 48.2 | — | — | — | — | 60.5 | 57.2 | — | |
| OSOPPose Initialization=OSOP [17], Initialization Novel objects=true, Pose Refinement=Multi-Hyp., Refinement Novel objects=true, Refinement RGB-D Input=false2022.12 | 31.2 | — | — | — | — | 49.2 | 33.2 | — | |
| OSOPRGB-D Input=false, 2D Localization=OSOP, Pose Initialization=OSOP, Pose Refinement=OSOP+PnP+MH, Novel Objects=true2024.03 | 31.2 | — | — | — | — | 49.2 | 33.2 | — | |
| ZS6DDetections=CNOS [45]2023.11 | 29.8 | 21 | — | — | — | — | 32.4 | — | |
| GigaPoseDetections=CNOS [45], Mean Run-time=0.4 s2023.11 | 29.6 | 26.4 | 30 | 22.3 | 17.5 | 34.1 | 27.8 | 26.8 | |
| OSOPDetections=OSOP [57]2023.11 | 27.4 | 40.3 | — | — | — | — | 29.6 | — | |
| MegaPoseDetections=CNOS [45], Mean Run-time=15.5 s2023.11 | 22.9 | 17.7 | 25.8 | 15.2 | 10.8 | 25.1 | 28.1 | 20.8 | |
| MegaPosePose Initialization=MegaPose coarse, Initialization Novel objects=true2022.12 | 18.7 | 19.7 | 20.5 | 15.3 | 8 | 18.6 | 13.9 | 16.2 | |
| MegaPoseDetections=Mask R-CNN [12]2023.11 | 18.7 | 19.7 | 20.5 | 15.3 | 8 | 18.6 | 13.9 | 16.2 |