This leaderbord shows the overall ranking for Model-based 6D detection of unseen objects on BOP-H3 (HOT3D, HOPEv2, HANDAL). 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 | APH3 | APHOT3D | APHOPEv2 | APHANDAL | Time (s) | |
|---|---|---|---|---|---|---|---|---|
| 2025-10-01 | 3PT-Pose-H3 (f.k.a IPT) | RGB-D | 0.586 | 0.513 | 0.599 | 0.646 | 71.725 | |
| 2025-09-22 | Co-op (CNOS, 1 Hypo) | RGB | 0.440 | 0.388 | 0.477 | 0.454 | 5.472 | |
| 2025-10-01 | Co-op (MUSE, 1 Hypo) | RGB | 0.464 | 0.401 | 0.514 | 0.477 | 3.353 | |
| 2024-11-20 | OPFormer (CNOS) | RGB | 0.351 | 0.192 | ||||
| 2024-11-20 | OPFormer (CNOS, Megapose Refiner) | RGB | 0.392 | 0.262 | ||||
| 2024-09-26 | GigaPose + GenFlow | RGB | 0.312 | 0.268 | 0.411 | 0.256 | 5.271 | |
| 2024-09-25 | GigaPose-CVPR24 | RGB | 0.094 | 0.072 | 0.167 | 0.041 | 0.869 | |
| 2025-11-14 | 3PT-Pose (Nov 2025) | RGB | 0.587 | 0.553 | 0.551 | 0.657 | 16.013 | |
| 2025-09-21 | Co-op (CNOS, Coarse) | RGB | 0.395 | 0.326 | 0.468 | 0.393 | 2.671 |
Tip: Hover over the numbers to see more decimal places.