mlsanityData to 7 Oct 2026

BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objects

arXiv 2403.09799 ↗First posted 14 Mar 2024cs.CV cs.ROcited by 60

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Abstract (arXiv)

We present the evaluation methodology, datasets and results of the BOP Challenge 2023, the fifth in a series of public competitions organized to capture the state of the art in model-based 6D object pose estimation from an RGB/RGB-D image and related tasks. Besides the three tasks from 2022 (model-based 2D detection, 2D segmentation, and 6D localization of objects seen during training), the 2023 challenge introduced new variants of these tasks focused on objects unseen during training. In the new tasks, methods were required to learn new objects during a short onboarding stage (max 5 minutes, 1 GPU) from provided 3D object models. The best 2023 method for 6D localization of unseen objects (GenFlow) notably reached the accuracy of the best 2020 method for seen objects (CosyPose), although being noticeably slower. The best 2023 method for seen objects (GPose) achieved a moderate accuracy improvement but a significant 43% run-time improvement compared to the best 2022 counterpart (GDRNPP). Since 2017, the accuracy of 6D localization of seen objects has improved by more than 50% (from 56.9 to 85.6 AR_C). The online evaluation system stays open and is available at: http://bop.felk.cvut.cz/.

Key facts. Cited by 60 papers in the map (data through 7 Oct 2026). Builds on 46 of its 67 references that are in the map. First posted on arXiv 14 Mar 2024.

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46 of 67 references.

References · 46

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
  2. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,764
  3. 2017Mask R-CNNcited by 7,259
  4. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,880
  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
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  9. 2021Ref-NeRF: Structured View-Dependent Appearance for Neural Radiance Fieldscited by 569
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  11. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  12. 2020TEASER: Fast and Certifiable Point Cloud Registrationcited by 274
34 more
  1. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  2. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  3. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  4. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  5. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 198
  6. 2020BOP Challenge 2020 on 6D Object Localizationcited by 192
  7. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  8. 2022Shape, Light, and Material Decomposition from Images using Monte Carlo Rendering and Denoisingcited by 163
  9. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  10. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  11. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  12. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 115
  13. 2019HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objectscited by 110
  14. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  15. 2023CNOS: A Strong Baseline for CAD-based Novel Object Segmentationcited by 86
  16. 20226-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmarkcited by 85
  17. 2023GeoTransformer: Fast and Robust Point Cloud Registration with Geometric Transformercited by 83
  18. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  19. 2015Recovering 6D Object Pose and Predicting Next-Best-View in the Crowdcited by 79
  20. 2019BlenderProccited by 76
  21. 2023BOP Challenge 2022 on Detection, Segmentation and Pose Estimation of Specific Rigid Objectscited by 70
  22. 2019Photorealistic Image Synthesis for Object Instance Detectioncited by 66
  23. 2022Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusionscited by 54
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  28. 2022Perspective Flow Aggregation for Data-Limited 6D Object Pose Estimationcited by 32
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  30. 2023Shape-Constraint Recurrent Flow for 6D Object Pose Estimationcited by 17
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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 14; 2025: 31; 2026: 15.

60 papers.

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  1. 2024HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videoscited by 122
  2. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 47
  3. 2024Introducing HOT3D: An Egocentric Dataset for 3D Hand and Object Trackingcited by 46
  4. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  5. 2025BOP Challenge 2024 on Model-Based and Model-Free 6D Object Pose Estimationcited by 18
  6. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 16
  7. 2025Co-op: Correspondence-based Novel Object Pose Estimationcited by 13
  8. 2024UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Imagecited by 12
  9. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integrationcited by 11
  10. 2024High-resolution open-vocabulary object 6D pose estimationcited by 10
  11. 20256D Object Pose Tracking in Internet Videos for Robotic Manipulationcited by 10
  12. 2025GoTrack: Generic 6DoF Object Pose Refinement and Trackingcited by 10
38 more
  1. 2024CRISP: Object Pose and Shape Estimation with Test-Time Adaptationcited by 9
  2. 2025GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenescited by 8
  3. 2025GIVEPose: Gradual Intra-class Variation Elimination for RGB-based Category-Level Object Pose Estimationcited by 5
  4. 2025PicoPose: Progressive Pixel-to-Pixel Correspondence Learning for Novel Object Pose Estimationcited by 5
  5. 2024Diffusion Features for Zero-Shot 6DoF Object Pose Estimationcited by 4
  6. 2025V-HOP: Visuo-Haptic 6D Object Pose Trackingcited by 4
  7. 2025Conditional Latent Diffusion Models for Zero-Shot Instance Segmentationcited by 4
  8. 2024BOP-Distrib: Revisiting 6D Pose Estimation Benchmarks for Better Evaluation under Visual Ambiguitiescited by 3
  9. 2024GFreeDet: Exploiting Gaussian Splatting and Foundation Models for Model-free Unseen Object Detection in the BOP Challenge 2024cited by 3
  10. 2025Explaining Human Preferences via Metrics for Structured 3D Reconstructioncited by 3
  11. 2025PhysPose: Refining 6D Object Poses with Physical Constraintscited by 3
  12. 2025ViTa-Zero: Zero-shot Visuotactile Object 6D Pose Estimationcited by 3
  13. 2025Corr2Distrib: Making Ambiguous Correspondences an Ally to Predict Reliable 6D Pose Distributionscited by 3
  14. 2025HccePose(BF): Predicting Front & Back Surfaces to Construct Ultra-Dense 2D-3D Correspondences for Pose Estimationcited by 3
  15. 2025MUSE: Model-based Uncertainty-aware Similarity Estimation for zero-shot 2D Object Detection and Segmentationcited by 3
  16. 2026ArtHOI: Taming Foundation Models for Monocular 4D Reconstruction of Hand-Articulated-Object Interactionscited by 3
  17. 2024Good Grasps Only: A data engine for self-supervised fine-tuning of pose estimation using grasp poses for verificationcited by 2
  18. 2024End-to-End Probabilistic Geometry-Guided Regression for 6DoF Object Pose Estimationcited by 2
  19. 2025ArrowPose: Segmentation, Detection, and 5 DoF Pose Estimation Network for Colorless Point Cloudscited by 2
  20. 2025NOCTIS: Novel Object Cyclic Threshold based Instance Segmentationcited by 2
  21. 2026OSCAR: Open-Set CAD Retrieval from a Language Prompt and a Single Imagecited by 2
  22. 2026Event6D: Event-based Novel Object 6D Pose Trackingcited by 2
  23. 2024Resolving Symmetry Ambiguity in Correspondence-based Methods for Instance-level Object Pose Estimationcited by 1
  24. 2025RefPose: Leveraging Reference Geometric Correspondences for Accurate 6D Pose Estimation of Unseen Objectscited by 1
  25. 2025Object Pose Distribution Estimation for Determining Revolution and Reflection Uncertainty in Point Cloudscited by 1
  26. 2026Generative 6D Pose Estimation via Conditional Flow Matchingcited by 1
  27. 2024FAST GDRNPP: Improving the Speed of State-of-the-Art 6D Object Pose Estimationcited by 0
  28. 2024YCB-LUMA: YCB Object Dataset with Luminance Keying for Object Localizationcited by 0
  29. 2025Improving 6D Object Pose Estimation of metallic Household and Industry Objectscited by 0
  30. 2025DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarioscited by 0
  31. 2025Vanishing Depth: Training Generalized Depth Adapters with Sinusoidal Depth Preprocessing for Pretrained RGB Encoderscited by 0
  32. 2025JENGA: Object selection and pose estimation for robotic grasping from a stackcited by 0
  33. 2025RAG-6DPose: Retrieval-Augmented 6D Pose Estimation via Leveraging CAD as Knowledge Basecited by 0
  34. 2025Color-Pair Guided Robust Zero-Shot 6D Pose Estimation and Tracking of Cluttered Objects on Edge Devicescited by 0
  35. 2025WALDO: Where Unseen Model-based 6D Pose Estimation Meets Occlusioncited by 0
  36. 2025Zero-Shot Multi-Criteria Visual Quality Inspection for Semi-Controlled Industrial Environments via Real-Time 3D Digital Twin Simulationcited by 0
  37. 2025AlignPose: Generalizable 6D Pose Estimation via Multi-view Feature-metric Alignmentcited by 0
  38. 2026MixRI: Mixing Features of Reference Images for Novel Object Pose Estimationcited by 0

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