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 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 D, the submission with the highest APD 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 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
2025-09-30 FRTPose-WAPR.v2（MUSE） RGB-D 0.784 0.758 0.651 0.972 0.722 0.697 0.815 0.871 0.831
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
2025-10-01 FRTPose-WAPR.v2（Default Detection） RGB-D 0.849 0.807 0.830 0.978 0.733 0.790 0.889 0.918 137.765
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
2025-10-01 FRTPose-WAPR.v2（SAM6D / MUSE） RGB-D 0.700
2024-09-13 GigaPose+GenFlow (RGBD) 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
2025-09-29 FRTPose-WAPR.v2（Multi View） RGB-D 0.831
2025-10-01 FRTPose-WAPR.v2（Multi 2D Detections） RGB-D 0.856 0.820 0.831 0.978 0.759 0.790 0.896 0.918 193.788
2025-11-14 3PT-Pose (Nov 2025) RGB 0.689 0.642 0.775 0.718 0.371 0.844 0.796 0.675 9.016
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
2025-04-10 FoundationPose(CNOS-SAM) RGB-D 0.512
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
2024-11-24 FRTPose.v1 (MUSE) RGB-D 0.821 0.802 0.775 0.940 0.714 0.755 0.880 0.883 27.560
2024-09-20 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 (Default Detections) RGB-D 0.818 0.793 0.769 0.946 0.712 0.770 0.875 0.861 46.389
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
2025-05-26 FRTPose-WAPR（Default Detection） RGB-D 0.843 0.797 0.826 0.978 0.721 0.782 0.883 0.918 116.827
2025-10-01 3PT-Pose-Industrial (f.k.a. IPT) RGB 0.833
2025-05-26 FRTPose-WAPR（Multi 2D Detections） RGB-D 0.848 0.815 0.824 0.976 0.745 0.782 0.892 0.905 229.326
2025-05-30 FRTPose-WAPR（SAM6D / MUSE） RGB-D 0.688
2025-06-01 FRTPose-WAPR（Multi Cam） RGB-D 0.782
2025-05-31 FreeZeV2.2 RGB-D 0.833 0.802 0.777 0.988 0.720 0.775 0.854 0.911 27.776
2024-09-27 GigaPose + GenFlow RGB 0.504 0.554 0.436 0.608 0.353 0.367 0.668 0.546 4.663
2025-05-22 FRTPose-WAPR（MUSE） RGB-D 0.769 0.751 0.650 0.963 0.683 0.688 0.785 0.860 0.912
2025-07-28 MatchU RGB-D 0.480
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
2024-11-28 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
2025-04-10 SAM6D(SAM) RGB-D 0.595
2025-11-03 WAPR.v2（Multi 2D Detections） RGB-D 0.848 0.809 0.829 0.979 0.742 0.793 0.875 0.906 117.186
2025-11-02 WAPR.v2（MUSE） RGB-D 0.780 0.760 0.663 0.965 0.700 0.704 0.785 0.881 0.978
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
2025-11-02 WAPR.v2 (Default Detections) RGB-D 0.833 0.788 0.829 0.957 0.709 0.776 0.863 0.911 43.068
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: