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Papers Benchmarks Datasets Tasks

6D Object Pose Estimation research benchmarks · SOTA2 Research

6D Object Pose Estimation

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

100Cam Accuracy

60

Apr 23, 2026

BOP 7 core datasets: LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V 82 (test)

75.6AR (LM-O)

47

Feb 26, 2026

OccludedLINEMOD (test)

82.5ADD(S)

45

Feb 26, 2026

BOP Core Datasets Challenge (test)

80.5LM-O Score

42

Feb 26, 2026

Occlusion LINEMOD

6.16Average Error

37

Jun 23, 2026

BOP challenge (test)

77LM-O AR

26

Apr 23, 2026

7.2ADD(-S)

24

Jun 15, 2026

95.4AUC

24

Jun 15, 2026

Toyota-Light (TOYL) (test)

57.1AR

24

Mar 25, 2026

0.956AR

23

Jun 15, 2026

89.6Recall (Mean)

22

Jun 23, 2026

T-LESS BOP challenge protocol PrimeSense (test)

91VSD

20

Feb 26, 2026

T-LESS Single Instance Single Object

0.1e_VSD

15

Feb 26, 2026

0.9mAP (5 deg)

14

Feb 26, 2026

LineMOD standard (test)

97.4Avg Accuracy

14

Feb 26, 2026

T-LESS Primesense SIXD BOP 2018 (test)

29.5Object Recall (errvsd < 0.3)

14

Feb 26, 2026

BOP (T-LESS, ITODD, YCB-V, LM-O) Challenge (test)

68.5LM-O Score

13

Feb 26, 2026

Toyota-Light 16

51.1AR

11

Jun 23, 2026

81.8AR

11

Jun 23, 2026

71.5ADD(-S)

11

May 11, 2026

3.6Master Chef Can Error

9

Apr 20, 2026

92.4IoU@75

9

Feb 26, 2026

YCB-V BOP19 challenge (test)

CRISP-Syn+Picasso

0.008ADD-S Mean

9

Feb 26, 2026

56.4Average Recall

8

May 11, 2026

65.9AR

8

Feb 26, 2026

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