Model-based 6D detection of unseen objects – BOP-Industrial

This leaderbord shows the overall ranking for Model-based 6D detection of unseen objects on BOP-Industrial (IPD, XYZ-IBD, ITODD-MV). 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 APIndustrial score is considered. The reported time is the average image processing time averaged over the core datasets.

Date (UTC) Method Views Test image APIndustrial APIPD APXYZ-IBD APITODD-MV Time (s)
2024-09-26 FreeZeV2 (SAM6D, Coarse-to-Fine) single RGB-D 0.573
2024-11-28 Co-op (CNOS, Coarse, RGBD) single RGB-D 0.560
2024-11-28 Co-op (CNOS, 1 Hypo) Single RGB 0.465
2024-11-28 Co-op (F3DT2D, 5 Hypo) Single RGB 0.504
2024-11-28 Co-op (F3DT2D, Coarse, RGBD) Single RGB-D 0.576
2024-09-27 GigaPose + GenFlow Single RGB 0.367
2024-09-13 GigaPose+GenFlow (RGBD) Single RGB-D 0.447
2024-11-29 FreeZeV2.1 single RGB-D 0.769
2024-11-24 FRTPose.v1 (MUSE) single RGB-D 0.755
2024-11-24 FRTPose.v1 (SAM6D-FastSAM) single RGB-D 0.773
2025-06-12 FoundationPose(CNOS-SAM) Single RGB-D 0.495 0.408 0.564 0.512 21.823
2024-12-09 FRTPose.v1 (SAM6D-FastSAM, NIDS, ... single RGB-D 0.777
2024-09-20 GigaPose+GenFlow (5 hypothesis) single RGB 0.425
2024-09-18 GigaPose+GenFlow+kabsch (5 hypoth... single RGB-D 0.525
2024-11-24 FRTPose.v1 (Default Detections) single RGB-D 0.770
2025-06-01 FRTPose-WAPR(Default Detection) Single RGB-D 0.680 0.583 0.674 0.782 107.982
2025-05-26 FRTPose-WAPR(Multi 2D Detections) Single RGB-D 0.782
2025-05-30 FRTPose-WAPR(SAM6D / MUSE) Single RGB-D 0.562 0.481 0.516 0.688 0.894
2025-06-01 FRTPose-WAPR(Multi Cam) Multi RGB-D 0.792 0.918 0.678 0.782 228.933
2025-05-31 FreeZeV2.2 Single RGB-D 0.617 0.439 0.636 0.775 16.829
2024-11-28 Co-op (F3DT2D, 5 Hypo, RGBD) Single RGB-D 0.627
2025-05-22 FRTPose-WAPR(MUSE) Single RGB-D 0.688
2024-11-28 Co-op (CNOS, 1 Hypo, RGBD) Single RGB-D 0.575
2024-11-29 Co-op (CNOS, 5 Hypo, RGBD) Single RGB-D 0.604
2024-11-29 Co-op (CNOS, 5 Hypo) Single RGB 0.483
2025-06-11 SAM6D(SAM) Single RGB-D 0.529 0.415 0.578 0.595 2.923
2024-09-20 FreeZeV2 (SAM6D) single RGB-D 0.617
2024-09-18 GigaPose-CVPR24 single RGB 0.149
2024-11-28 Co-op (CNOS, Coarse) Single RGB 0.388

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

Latest submissions to this leaderboard: