mlsanityData to 7 Oct 2026

BOP: Benchmark for 6D Object Pose Estimation

arXiv 1808.08319 ↗First posted 24 Aug 2018cs.CV cs.AI cs.ROcited by 254

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Abstract (arXiv)

We propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image. The training data consists of a texture-mapped 3D object model or images of the object in known 6D poses. The benchmark comprises of: i) eight datasets in a unified format that cover different practical scenarios, including two new datasets focusing on varying lighting conditions, ii) an evaluation methodology with a pose-error function that deals with pose ambiguities, iii) a comprehensive evaluation of 15 diverse recent methods that captures the status quo of the field, and iv) an online evaluation system that is open for continuous submission of new results. The evaluation shows that methods based on point-pair features currently perform best, outperforming template matching methods, learning-based methods and methods based on 3D local features. The project website is available at bop.felk.cvut.cz.

Key facts. Cited by 254 papers in the map (data through 7 Oct 2026). First posted on arXiv 24 Aug 2018.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 25; 2022: 44; 2023: 46; 2024: 40; 2025: 58; 2026: 41.

254 papers.

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  1. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 411
  2. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 320
  3. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 198
  4. 2023Aria Digital Twin: A New Benchmark Dataset for Egocentric 3D Machine Perceptioncited by 166
  5. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  6. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  7. 2024HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videoscited by 122
  8. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  9. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 113
  10. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  11. 2022LaMAR: Benchmarking Localization and Mapping for Augmented Realitycited by 98
  12. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
38 more
  1. 2023CNOS: A Strong Baseline for CAD-based Novel Object Segmentationcited by 86
  2. 20226-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmarkcited by 85
  3. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  4. 2022You Only Need 90K Parameters to Adapt Light: A Light Weight Transformer for Image Enhancement and Exposure Correctioncited by 81
  5. 2023BOP Challenge 2022 on Detection, Segmentation and Pose Estimation of Specific Rigid Objectscited by 70
  6. 2024BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objectscited by 60
  7. 2022NeRF-Pose: A First-Reconstruct-Then-Regress Approach for Weakly-supervised 6D Object Pose Estimationcited by 57
  8. 2023FreeZe: Training-free zero-shot 6D pose estimation with geometric and vision foundation modelscited by 56
  9. 2022Parallel Inversion of Neural Radiance Fields for Robust Pose Estimationcited by 55
  10. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 51
  11. 2022Coupled Iterative Refinement for 6D Multi-Object Pose Estimationcited by 48
  12. 2023HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructionscited by 47
  13. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 47
  14. 2024Introducing HOT3D: An Egocentric Dataset for 3D Hand and Object Trackingcited by 46
  15. 2021Wide-Depth-Range 6D Object Pose Estimation in Spacecited by 45
  16. 2022PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objectscited by 45
  17. 2023ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformerscited by 45
  18. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  19. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  20. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
  21. 2023EgoObjects: A Large-Scale Egocentric Dataset for Fine-Grained Object Understandingcited by 39
  22. 2022RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimizationcited by 38
  23. 2022Occlusion-Aware Self-Supervised Monocular 6D Object Pose Estimationcited by 34
  24. 2021Single-view robot pose and joint angle estimation via render & comparecited by 33
  25. 2023Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagationcited by 33
  26. 2022Perspective Flow Aggregation for Data-Limited 6D Object Pose Estimationcited by 32
  27. 2022DPODv2: Dense Correspondence-Based 6 DoF Pose Estimationcited by 32
  28. 2023SE(3) Diffusion Model-based Point Cloud Registration for Robust 6D Object Pose Estimationcited by 32
  29. 2024GenFlow: Generalizable Recurrent Flow for 6D Pose Refinement of Novel Objectscited by 32
  30. 2023Open-vocabulary object 6D pose estimationcited by 29
  31. 2023Neural feels with neural fields: Visuo-tactile perception for in-hand manipulationcited by 28
  32. 2024MatchU: Matching Unseen Objects for 6D Pose Estimation from RGB-D Imagescited by 28
  33. 2022Neural-Sim: Learning to Generate Training Data with NeRFcited by 27
  34. 2021ZePHyR: Zero-shot Pose Hypothesis Ratingcited by 26
  35. 20213DP3: 3D Scene Perception via Probabilistic Programmingcited by 26
  36. 2024DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimationcited by 24
  37. 2022Neural Correspondence Field for Object Pose Estimationcited by 21
  38. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21

50 most cited of 254 All 254 (JSON)