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 | |||||
| 2025-09-30 | FRTPose-WAPR.v2（MUSE） | Single | RGB-D | 0.697 | |||||
| 2024-11-28 | Co-op (CNOS, 1 Hypo) | Single | RGB | 0.465 | |||||
| 2025-09-30 | FRTPose-WAPR.v2（Default Detection） | Single | RGB-D | 0.714 | 0.608 | 0.744 | 0.790 | 89.451 | |
| 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 | |||||
| 2025-10-01 | FRTPose-WAPR.v2（SAM6D / MUSE） | Single | RGB-D | 0.610 | 0.537 | 0.593 | 0.700 | 0.968 | |
| 2024-09-13 | GigaPose+GenFlow (RGBD) | Single | RGB-D | 0.447 | |||||
| 2024-11-29 | FreeZeV2.1 | single | RGB-D | 0.769 | |||||
| 2025-10-01 | FRTPose-WAPR.v2（Multi View） | Multi | RGB-D | 0.834 | 0.926 | 0.744 | 0.831 | 161.486 | |
| 2025-10-01 | FRTPose-WAPR.v2（Multi 2D Detections） | Single | RGB-D | 0.790 | |||||
| 2025-11-14 | 3PT-Pose (Nov 2025) | Multi | RGB | 0.881 | 0.984 | 0.816 | 0.844 | 30.544 | |
| 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 | |||||
| 2024-11-24 | FRTPose.v1 (MUSE) | Single | RGB-D | 0.755 | |||||
| 2024-09-20 | GigaPose+GenFlow (5 hypothesis) | single | RGB | 0.425 | |||||
| 2024-09-18 | GigaPose+GenFlow+kabsch (5 hypoth... | single | RGB-D | 0.525 | |||||
| 2025-10-01 | mask matcher | Multi | RGB-D | 0.496 | |||||
| 2024-11-24 | FRTPose.v1 (Default Detections) | Single | RGB-D | 0.770 | |||||
| 2024-11-28 | Co-op (CNOS, Coarse, RGBD) | single | RGB-D | 0.560 | |||||
| 2025-06-01 | FRTPose-WAPR（Default Detection） | Single | RGB-D | 0.680 | 0.583 | 0.674 | 0.782 | 107.982 | |
| 2025-10-01 | 3PT-Pose-Industrial (f.k.a. IPT) | Multi | RGB | 0.850 | 0.923 | 0.792 | 0.833 | 515.798 | |
| 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 | |
| 2024-09-27 | GigaPose + GenFlow | Single | RGB | 0.367 | |||||
| 2025-05-22 | FRTPose-WAPR（MUSE） | Single | RGB-D | 0.688 | |||||
| 2025-07-28 | MatchU | Single | RGB-D | 0.510 | 0.520 | 0.529 | 0.480 | ||
| 2024-11-28 | Co-op (F3DT2D, 5 Hypo, RGBD) | Single | RGB-D | 0.627 | |||||
| 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 | |
| 2025-11-03 | WAPR.v2（Multi 2D Detections） | Single | RGB-D | 0.793 | |||||
| 2025-11-02 | WAPR.v2（MUSE） | Single | RGB-D | 0.704 | |||||
| 2024-09-20 | FreeZeV2 (SAM6D) | single | RGB-D | 0.617 | |||||
| 2025-11-02 | WAPR.v2 (Default Detections) | Single | RGB-D | 0.776 | |||||
| 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.