mlsanityData to 7 Oct 2026

BOP Challenge 2022 on Detection, Segmentation and Pose Estimation of Specific Rigid Objects

arXiv 2302.13075 ↗First posted 25 Feb 2023cs.CVcited by 70

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Abstract (arXiv)

We present the evaluation methodology, datasets and results of the BOP Challenge 2022, the fourth in a series of public competitions organized with the goal to capture the status quo in the field of 6D object pose estimation from an RGB/RGB-D image. In 2022, we witnessed another significant improvement in the pose estimation accuracy -- the state of the art, which was 56.9 ARC in 2019 (Vidal et al.) and 69.8 ARC in 2020 (CosyPose), moved to new heights of 83.7 ARC (GDRNPP). Out of 49 pose estimation methods evaluated since 2019, the top 18 are from 2022. Methods based on point pair features, which were introduced in 2010 and achieved competitive results even in 2020, are now clearly outperformed by deep learning methods. The synthetic-to-real domain gap was again significantly reduced, with 82.7 ARC achieved by GDRNPP trained only on synthetic images from BlenderProc. The fastest variant of GDRNPP reached 80.5 ARC with an average time per image of 0.23s. Since most of the recent methods for 6D object pose estimation begin by detecting/segmenting objects, we also started evaluating 2D object detection and segmentation performance based on the COCO metrics. Compared to the Mask R-CNN results from CosyPose in 2020, detection improved from 60.3 to 77.3 APC and segmentation from 40.5 to 58.7 APC. The online evaluation system stays open and is available at: hrefhttp://bop.felk.cvut.cz/bop.felk.cvut.cz.

Key facts. Cited by 70 papers in the map (data through 7 Oct 2026). Builds on 38 of its 61 references that are in the map. First posted on arXiv 25 Feb 2023.

Builds on

38 of 61 references.

References · 38

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
  2. 2017Mask R-CNNcited by 7,259
  3. 2022A ConvNet for the 2020scited by 3,545
  4. 2019FCOS: Fully Convolutional One-Stage Object Detectioncited by 1,573
  5. 2021YOLOX: Exceeding YOLO Series in 2021cited by 1,064
  6. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  7. 2021Common Objects in 3D: Large-Scale Learning and Evaluation of Real-life 3D Category Reconstructioncited by 646
  8. 2021Ref-NeRF: Structured View-Dependent Appearance for Neural Radiance Fieldscited by 569
  9. 2021Extracting Triangular 3D Models, Materials, and Lighting From Imagescited by 363
  10. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  11. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  12. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
26 more
  1. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  2. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  3. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  4. 2017Cut, Paste and Learn: Surprisingly Easy Synthesis for Instance Detectioncited by 209
  5. 2020BOP Challenge 2020 on 6D Object Localizationcited by 192
  6. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  7. 2022Shape, Light, and Material Decomposition from Images using Monte Carlo Rendering and Denoisingcited by 163
  8. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  9. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  10. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  11. 2019HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objectscited by 110
  12. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  13. 20226-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmarkcited by 85
  14. 2015Recovering 6D Object Pose and Predicting Next-Best-View in the Crowdcited by 79
  15. 2019Photorealistic Image Synthesis for Object Instance Detectioncited by 66
  16. 2019Multi-path Learning for Object Pose Estimation Across Domainscited by 52
  17. 2017On Pre-Trained Image Features and Synthetic Images for Deep Learningcited by 51
  18. 2022Coupled Iterative Refinement for 6D Multi-Object Pose Estimationcited by 48
  19. 2015A Dataset for Improved RGBD-based Object Detection and Pose Estimation for Warehouse Pick-and-Placecited by 35
  20. 2022Perspective Flow Aggregation for Data-Limited 6D Object Pose Estimationcited by 32
  21. 2018Full 3D Reconstruction of Transparent Objectscited by 24
  22. 2020A Hybrid Approach for 6DoF Pose Estimationcited by 13
  23. 2021iShape: A First Step Towards Irregular Shape Instance Segmentationcited by 12
  24. 2019PointVoteNet: Accurate Object Detection and 6 DoF Pose Estimation in Point Cloudscited by 7
  25. 2022Keypoint Cascade Voting for Point Cloud Based 6DoF Pose Estimationcited by 7
  26. 2021Pose Estimation of Specific Rigid Objectscited by 5

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 19; 2024: 28; 2025: 15; 2026: 8.

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  1. 2024HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videoscited by 122
  2. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 115
  3. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 113
  4. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  5. 2023CNOS: A Strong Baseline for CAD-based Novel Object Segmentationcited by 86
  6. 2024BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objectscited by 60
  7. 2023FreeZe: Training-free zero-shot 6D pose estimation with geometric and vision foundation modelscited by 56
  8. 2024Introducing HOT3D: An Egocentric Dataset for 3D Hand and Object Trackingcited by 46
  9. 2024MatchU: Matching Unseen Objects for 6D Pose Estimation from RGB-D Imagescited by 28
  10. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  11. 2025BOP Challenge 2024 on Model-Based and Model-Free 6D Object Pose Estimationcited by 18
  12. 2023Confronting Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)cited by 17
38 more
  1. 2023HiPose: Hierarchical Binary Surface Encoding and Correspondence Pruning for RGB-D 6DoF Object Pose Estimationcited by 17
  2. 2024Adapting Pre-Trained Vision Models for Novel Instance Detection and Segmentationcited by 17
  3. 2024Object Pose Estimation via the Aggregation of Diffusion Featurescited by 12
  4. 20236D Object Pose Estimation from Approximate 3D Models for Orbital Roboticscited by 10
  5. 2024OV9D: Open-Vocabulary Category-Level 9D Object Pose and Size Estimationcited by 10
  6. 2024Zero123-6D: Zero-shot Novel View Synthesis for RGB Category-level 6D Pose Estimationcited by 10
  7. 2025GoTrack: Generic 6DoF Object Pose Refinement and Trackingcited by 10
  8. 2023Self-supervised Vision Transformers for 3D Pose Estimation of Novel Objectscited by 9
  9. 2023Pseudo Flow Consistency for Self-Supervised 6D Object Pose Estimationcited by 9
  10. 2024Uncertainty Quantification with Deep Ensembles for 6D Object Pose Estimationcited by 9
  11. 2023KeyMatchNet: Zero-Shot Pose Estimation in 3D Point Clouds by Generalized Keypoint Matchingcited by 7
  12. 2025XYZ-IBD: Benchmarking Robust 6D Object Pose Estimation under Real-World Industrial Complexitycited by 7
  13. 2023SA6D: Self-Adaptive Few-Shot 6D Pose Estimator for Novel and Occluded Objectscited by 6
  14. 2024Extending 6D Object Pose Estimators for Stereo Visioncited by 5
  15. 2023Pseudo-keypoint RKHS Learning for Self-supervised 6DoF Pose Estimationcited by 4
  16. 2024Realistic Data Generation for 6D Pose Estimation of Surgical Instrumentscited by 4
  17. 2025Conditional Latent Diffusion Models for Zero-Shot Instance Segmentationcited by 4
  18. 2025RayPose: Ray Bundling Diffusion for Template Views in Unseen 6D Object Pose Estimationcited by 4
  19. 2023YOLOPose V2: Understanding and Improving Transformer-based 6D Pose Estimationcited by 3
  20. 2023Learning Better Keypoints for Multi-Object 6DoF Pose Estimationcited by 3
  21. 2023Industrial Application of 6D Pose Estimation for Robotic Manipulation in Automotive Internal Logisticscited by 3
  22. 2024BOP-Distrib: Revisiting 6D Pose Estimation Benchmarks for Better Evaluation under Visual Ambiguitiescited by 3
  23. 2024Synthetica: Large Scale Synthetic Data for Robot Perceptioncited by 3
  24. 2025ADAPT: An Autonomous Forklift for Construction Site Operationcited by 3
  25. 2025HccePose(BF): Predicting Front & Back Surfaces to Construct Ultra-Dense 2D-3D Correspondences for Pose Estimationcited by 3
  26. 2025MUSE: Model-based Uncertainty-aware Similarity Estimation for zero-shot 2D Object Detection and Segmentationcited by 3
  27. 2024Shape-biased Texture Agnostic Representations for Improved Textureless and Metallic Object Detection and 6D Pose Estimationcited by 2
  28. 2024Improving 2D-3D Dense Correspondences with Diffusion Models for 6D Object Pose Estimationcited by 2
  29. 2024Fast Training Data Acquisition for Object Detection and Segmentation using Black Screen Luminance Keyingcited by 2
  30. 2024Monocular pose estimation of articulated open surgery tools -- in the wildcited by 2
  31. 2024End-to-End Probabilistic Geometry-Guided Regression for 6DoF Object Pose Estimationcited by 2
  32. 2024A Low-Cost, High-Speed, and Robust Bin Picking System for Factory Automation Enabled by a Non-Stop, Multi-View, and Active Vision Schemecited by 2
  33. 2025ArrowPose: Segmentation, Detection, and 5 DoF Pose Estimation Network for Colorless Point Cloudscited by 2
  34. 2025NOCTIS: Novel Object Cyclic Threshold based Instance Segmentationcited by 2
  35. 2023YCB-Ev 1.1: Event-vision dataset for 6DoF object pose estimationcited by 1
  36. 2024Leveraging Positional Encoding for Robust Multi-Reference-Based Object 6D Pose Estimationcited by 1
  37. 2024MaskVal: Simple but Effective Uncertainty Quantification for 6D Pose Estimationcited by 1
  38. 2024AI-Powered Augmented Reality for Satellite Assembly, Integration and Testcited by 1

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