HOME CHALLENGES DATASETS TASKS LEADERBOARDS SUBMIT RESULTS Sign in
BOP-Classic: Average on BOP-Classic-Core |   ITODD LM-O YCB-V T-LESS HB IC-BIN TUD-L |   HOPE LM RU-APC IC-MI TYO-L
BOP-H3: Average on BOP-H3 |   HOT3D HANDAL HOPEv2
BOP-Industrial: Average on BOP-Industrial |   IPD XYZ-IBD ITODD-MV
Available tasks:
Model-based tasks on unseen objects: 6D localization 6D detection 2D detection 2D segmentation
Model-based tasks on seen objects: 6D localization 6D detection 2D detection 2D segmentation

Model-based 6D localization of unseen objects – BOP-Classic-Core

This leaderbord shows the overall ranking for Model-based 6D localization of unseen objects on BOP-Classic-Core (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). For each method, the date of the latest considered submission is reported. If more submissions of a method are available for a dataset D, the submission with the highest ARD score is considered. The reported time is the average time to generate predictions for all objects in a single image (averaged over the datasets).

Date (UTC) Method Test image ARCore ARLM-O ART-LESS ARTUD-L ARIC-BIN ARITODD ARHB ARYCB-V Time (s)
2024-11-18 Co-op (CNOS, Coarse, RGBD) RGB-D 0.721 0.700 0.642 0.879 0.564 0.566 0.842 0.853 0.978
2023-09-26 PoZe-CNOS RGB-D 0.616 0.644 0.494 0.924 0.409 0.516 0.712 0.611 159.425
2024-11-22 Co-op (F3DT2D, 5 Hypo) RGB 0.682 0.675 0.682 0.767 0.589 0.506 0.856 0.697 3.932
2023-09-27 Megapose-CNOS_fastSAM+Multihyp_Te... RGB-D 0.623 0.620 0.485 0.846 0.462 0.460 0.725 0.764 116.564
2024-11-02 GigaPose + GenFlow RGB 0.568 0.595 0.550 0.607 0.478 0.413 0.722 0.608 2.213
2024-11-25 Co-op (F3DT2D, 1 Hypo, RGBD) RGB-D 0.759 0.730 0.680 0.929 0.624 0.600 0.863 0.886 0.765
2024-11-29 FreeZeV2.1 RGB-D 0.821 0.771 0.755 0.976 0.697 0.742 0.892 0.915 24.892
2024-09-18 FreeZeV2 RGB-D 0.792 0.764 0.708 0.972 0.654 0.679 0.859 0.906 17.153
2023-09-26 GenFlow-coarse RGB 0.235 0.250 0.215 0.300 0.168 0.154 0.283 0.277 3.839
2023-09-25 GenFlow-MultiHypo RGB-D 0.662 0.622 0.509 0.849 0.524 0.544 0.770 0.818 21.457
2024-11-22 Co-op (CNOS, 1 Hypo) RGB 0.640 0.642 0.635 0.717 0.512 0.473 0.832 0.670 1.730
2024-10-16 GenFlow RGB 0.557 0.547 0.514 0.670 0.437 0.384 0.730 0.619 10.553
2023-09-26 GenFlow-MultiHypo-RGB RGB 0.570 0.563 0.523 0.684 0.453 0.395 0.739 0.633 20.890
2024-11-24 FRTPose.v1 (SAM6D-FastSAM) RGB-D 0.818 0.778 0.766 0.940 0.702 0.737 0.896 0.910 40.090
2024-02-28 GigaPose RGB 0.268 0.296 0.264 0.300 0.223 0.175 0.341 0.278 0.384
2024-02-28 GigaPose+MegaPose (5 hypothesis) RGB 0.578 0.598 0.565 0.631 0.473 0.397 0.722 0.661 7.682
2024-11-24 FRTPose.v1 (Default Detections) RGB-D 0.818 0.777 0.763 0.940 0.705 0.735 0.896 0.910 46.533
2024-03-04 SAM6D-CNOSfastSAM RGB-D 0.653 0.651 0.479 0.825 0.497 0.562 0.738 0.815 1.254
2024-03-04 SAM6D-ZeroPose RGB-D 0.622 0.635 0.430 0.802 0.518 0.484 0.691 0.792 5.482
2023-09-26 Megapose-CNOS_fastSAM+MultiHyp RGB 0.547 0.560 0.507 0.684 0.414 0.338 0.704 0.621 47.386
2023-09-26 Megapose-CNOS_fastSAM+MultiHyp-10 RGB 0.549 0.560 0.508 0.687 0.419 0.346 0.706 0.620 53.878
2023-09-28 SAM6D-BOP2023-CNOSmask RGB-D 0.616 0.648 0.483 0.794 0.504 0.351 0.727 0.804 3.872
2024-11-29 TF6D (Default, CNOS) + Megapose (... RGB 0.574 0.560 0.590 0.669 0.457 0.375 0.701 0.665 4.093
2024-11-25 Co-op (F3DT2D, 5 Hypo, RGBD) RGB-D 0.771 0.738 0.695 0.929 0.635 0.629 0.878 0.898 6.924
2023-09-27 Megapose-CNOS_fastSAM+Multihyp_Te... RGB-D 0.628 0.626 0.487 0.851 0.467 0.468 0.730 0.764 141.965
2024-11-29 TF6D (Default, CNOS) RGB 0.401 0.323 0.350 0.473 0.332 0.251 0.537 0.541 1.612
2023-09-28 GenFlow-MultiHypo16 RGB-D 0.674 0.635 0.521 0.862 0.534 0.554 0.779 0.833 34.578
2023-09-04 MegaPose-CNOS_fastSAM RGB 0.509 0.499 0.477 0.653 0.367 0.315 0.654 0.601 31.724
2024-01-22 SAM6D RGB-D 0.704 0.699 0.515 0.904 0.588 0.602 0.776 0.845 4.367
2024-09-03 Co-op (CNOS, Coarse) RGB 0.584 0.597 0.592 0.642 0.458 0.391 0.781 0.626 0.979
2023-11-02 MegaPose-CNOS_fastSAM+CoarseBest RGB 0.208 0.229 0.177 0.258 0.152 0.108 0.251 0.281 15.465
2024-09-04 FRTPose (SAM6D-FastSAM) RGB-D 0.783 0.783 0.717 0.925 0.601 0.646 0.896 0.913 20.718
2024-09-07 FRTPose (SAM6D-FastSAM & top k) RGB-D 0.724 0.703 0.581 0.871 0.599 0.644 0.804 0.869 0.754
2023-11-12 SMC-0.5s-CNOS D 0.433 0.512 0.415 0.511 0.290 0.358 0.538 0.403 2.992
2023-11-12 SMC-1.0s-CNOS D 0.475 0.558 0.423 0.599 0.316 0.389 0.585 0.454 6.051
2024-07-30 FreeZe (SAM6D) RGB-D 0.709 0.716 0.531 0.949 0.545 0.586 0.796 0.840 11.473
2024-09-07 FRTPose (Default Detections) RGB-D 0.777 0.783 0.714 0.922 0.590 0.618 0.896 0.913 23.379
2024-08-27 FoundationPose(NVIDIA) RGB-D 0.734 0.756 0.646 0.923 0.508 0.580 0.835 0.889 29.317
2024-03-04 SAM6D-FastSAM RGB-D 0.662 0.667 0.485 0.829 0.510 0.572 0.736 0.834 1.426
2024-02-28 GigaPose+MegaPose (1 hypothesis) RGB 0.547 0.557 0.541 0.580 0.450 0.376 0.693 0.632 2.301
2023-11-30 GigaPose+GenFlow (5 hypothesis) RGB 0.605 0.631 0.582 0.664 0.498 0.453 0.756 0.652 10.637
2023-11-30 GigaPose+GenFlow+kabsch (5 hypoth... RGB-D 0.686 0.678 0.556 0.811 0.563 0.575 0.791 0.825 11.140
2024-08-04 GigaPose (Add) + Megapose (5 hypo... RGB 0.585 0.604 0.576 0.648 0.482 0.398 0.724 0.666 10.769
2024-08-06 GigaPose (Concat) + Megapose (5 ... RGB 0.606 0.654 0.483 0.400 0.666
2023-09-27 ZeroPose-Multi-Hypo-Refinement-De... RGB-D 0.570 0.538 0.400 0.835 0.392 0.521 0.653 0.653 16.168
2024-12-09 FRTPose.v1 (SAM6D-FastSAM, NIDS, ... RGB-D 0.825 0.795 0.768 0.940 0.719 0.744 0.904 0.909 45.367
2024-07-20 GZS6D-BP(coarse+refine) RGB-D 0.671 0.907 0.544 0.584 0.795 0.758
2024-09-14 GZS6D-BP(coarse+refine+teaser) RGB-D 0.717 0.678 0.694 0.922 0.550 0.597 0.803 0.772 6.516
2024-11-18 Co-op (CNOS, 1 Hypo, RGBD) RGB-D 0.736 0.715 0.646 0.905 0.575 0.582 0.857 0.874 2.331
2024-11-18 Co-op (CNOS, 5 Hypo, RGBD) RGB-D 0.752 0.730 0.664 0.905 0.597 0.613 0.871 0.887 7.162
2024-11-22 Co-op (CNOS, 5 Hypo) RGB 0.658 0.655 0.648 0.729 0.544 0.491 0.850 0.689 4.190
2024-07-25 FreeZe (CNOS) RGB-D 0.693 0.689 0.520 0.936 0.499 0.561 0.790 0.853 13.474
2025-01-29 OPFormer-Coarse (CNOS) RGB 0.561 0.570 0.446 0.712 0.456 0.355 0.744 0.646 0.538
2025-01-30 OPFormer-Megapose refinement (CNOS) RGB 0.598 0.600 0.534 0.704 0.502 0.392 0.767 0.690 1.708
2024-11-24 FRTPose.v1 (MUSE) RGB-D 0.818 0.786 0.768 0.942 0.706 0.710 0.903 0.910 27.560
2023-08-22 ZeroPose-One-Hypo RGB-D 0.348 0.272 0.156 0.536 0.307 0.362 0.462 0.341 9.756
2023-09-27 ZeroPose-Multi-Hypo-Refinement RGB-D 0.534 0.493 0.342 0.790 0.396 0.465 0.629 0.623 18.971
2024-01-27 FoundPose+FeatRef+Megapose-5hyp RGB 0.596 0.610 0.570 0.693 0.479 0.407 0.723 0.690 20.523
2023-10-18 GenFlow-MultiHypo16-RGB RGB 0.576 0.572 0.528 0.688 0.458 0.398 0.746 0.642 40.528
2024-01-29 FoundPose+FeatRef RGB 0.426 0.395 0.396 0.567 0.283 0.262 0.585 0.497 2.648
2024-01-29 FoundPose+MegaPose RGB 0.547 0.554 0.510 0.633 0.430 0.346 0.695 0.661 4.398
2024-01-29 FoundPose+FeatRef+Megapose RGB 0.550 0.556 0.511 0.633 0.433 0.357 0.697 0.661 6.385
2024-01-28 FoundPose-Coarse RGB 0.373 0.397 0.338 0.469 0.239 0.204 0.508 0.452 1.690

Tip: Hover over the numbers to see more decimal places.

Latest submissions to this leaderboard: