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BOP-Classic: Average on BOP-Classic-Core |   LM-O YCB-V T-LESS ITODD HB IC-BIN TUD-L |   HOPE LM RU-APC IC-MI TYO-L
BOP-H3: Average on BOP-H3 |   HOT3D HANDAL HOPEv2
Available tasks:
Model-based tasks on seen objects: 6D localization 6D detection 2D detection 2D segmentation
Model-based tasks on unseen objects: 6D localization 6D detection 2D detection 2D segmentation

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

This leaderbord shows the overall ranking for Model-based 6D detection 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, the submission with the highest APCore score is considered. The reported time is the average image processing time averaged over the core datasets.

Date (UTC) Method Test image APCore APLM-O APT-LESS APTUD-L APIC-BIN APITODD APHB APYCB-V Time (s)
2024-09-26 FreeZeV2 (SAM6D, Coarse-to-Fine) RGB-D 0.707 0.743 0.601 0.902 0.531 0.573 0.741 0.858 12.860
2024-11-28 Co-op (CNOS, Coarse, RGBD) RGB-D 0.663 0.683 0.596 0.808 0.469 0.560 0.743 0.782 2.202
2024-11-28 Co-op (CNOS, 1 Hypo) RGB 0.577 0.615 0.588 0.641 0.409 0.465 0.727 0.592 6.421
2024-11-28 Co-op (F3DT2D, 5 Hypo) RGB 0.606 0.637 0.616 0.658 0.467 0.504 0.732 0.626 8.727
2024-11-28 Co-op (F3DT2D, Coarse, RGBD) RGB-D 0.693 0.698 0.620 0.841 0.564 0.576 0.746 0.808 0.865
2024-09-27 GigaPose+GenFlow (1 hypothesis) RGB 0.504 0.554 0.436 0.608 0.353 0.367 0.668 0.546 4.663
2024-09-13 GigaPose+GenFlow (1 hypothesis) (... RGB-D 0.567 0.578 0.467 0.715 0.402 0.447 0.676 0.682 4.490
2024-11-29 FreeZeV2.1 RGB-D 0.823 0.797 0.751 0.991 0.696 0.769 0.853 0.905 37.318
2024-11-28 Co-op (F3DT2D, 5 Hypo, RGBD) RGB-D 0.669 0.701 0.613 0.766 0.426 0.627 0.734 0.812 12.220
2024-12-09 FRTPose.v1 (SAM6D-FastSAM, NIDS, ... RGB-D 0.824 0.808 0.772 0.935 0.727 0.777 0.881 0.869 45.367
2024-09-20 FreeZeV2 (SAM6D) RGB-D 0.750 0.775 0.610 0.975 0.620 0.617 0.782 0.869 55.410
2024-11-24 FRTPose.v1 (SAM6D-FastSAM) RGB-D 0.819 0.792 0.773 0.942 0.711 0.773 0.876 0.864 40.522
2024-11-28 Co-op (CNOS, 1 Hypo, RGBD) RGB-D 0.651 0.670 0.583 0.769 0.458 0.575 0.737 0.766 6.854
2024-11-29 Co-op (CNOS, 5 Hypo, RGBD) RGB-D 0.644 0.682 0.589 0.738 0.399 0.604 0.731 0.766 14.315
2024-11-29 Co-op (CNOS, 5 Hypo) RGB 0.573 0.612 0.590 0.619 0.391 0.483 0.723 0.591 11.538
2024-09-20 GigaPose+GenFlow (5 hypothesis) RGB 0.575 0.597 0.565 0.688 0.439 0.425 0.707 0.607 15.486
2024-09-18 GigaPose+GenFlow+kabsch (5 hypoth... RGB-D 0.414 0.237 0.526 0.246 0.292 0.525 0.547 0.524 16.557
2024-11-24 FRTPose.v1 (MUSE) RGB-D 0.821 0.802 0.775 0.940 0.714 0.755 0.880 0.883 27.560
2024-11-24 FRTPose.v1 (Default Detections) RGB-D 0.818 0.793 0.769 0.946 0.712 0.770 0.875 0.861 46.389
2024-09-18 GigaPose-CVPR24 RGB 0.123 0.062 0.255 0.035 0.057 0.149 0.182 0.125 0.701
2024-11-28 Co-op (CNOS, Coarse) RGB 0.552 0.589 0.558 0.640 0.403 0.388 0.711 0.576 2.212

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

Latest submissions to this leaderboard: