This leaderbord shows the ranking for Model-based 6D detection of unseen objects on HB. The reported time is the average time to generate predictions for all objects in a single image (averaged over the datasets).
| Date (UTC) | Submission | Views | Test image | AP | APMSSD | APMSPD | Time (s) | |
|---|---|---|---|---|---|---|---|---|
| 2025-05-26 | FRTPose-WAPR（Multi 2D Detections） | Single | RGB-D | 0.892 | 0.890 | 0.893 | 508.009 | |
| 2025-05-23 | FRTPose-WAPR（Default Detection） | Single | RGB-D | 0.883 | 0.882 | 0.884 | 169.405 | |
| 2024-12-09 | FRTPose.v1 (SAM6D-FastSAM, NIDS, CNOS and MUSE) | single | RGB-D | 0.881 | 0.880 | 0.882 | 65.467 | |
| 2024-11-24 | FRTPose.v1 (MUSE) | single | RGB-D | 0.880 | 0.879 | 0.881 | 35.468 | |
| 2024-11-02 | FRTPose.v1 (SAM6D-FastSAM) | single | RGB-D | 0.876 | 0.874 | 0.878 | 69.268 | |
| 2024-11-24 | FRTPose.v1 (SAM6D-FastSAM) | single | RGB-D | 0.876 | 0.874 | 0.877 | 67.698 | |
| 2024-11-02 | FRTPose.v1 (Default Detections) | single | RGB-D | 0.875 | 0.874 | 0.877 | 72.033 | |
| 2024-11-24 | FRTPose.v1 (Default Detections) | single | RGB-D | 0.875 | 0.874 | 0.877 | 70.121 | |
| 2025-05-31 | FreeZeV2.2 | Single | RGB-D | 0.854 | 0.855 | 0.854 | 28.553 | |
| 2024-11-29 | FreeZeV2.1 | single | RGB-D | 0.853 | 0.852 | 0.854 | 33.828 | |
| 2025-05-22 | FRTPose-WAPR（MUSE） (conf-0.40) | Single | RGB-D | 0.785 | 0.784 | 0.787 | 1.308 | |
| 2024-09-20 | FreeZeV2 (SAM6D) (SAR threshold = -1) | single | RGB-D | 0.782 | 0.781 | 0.783 | 56.969 | |
| 2024-11-28 | Co-op (F3DT2D, Coarse, RGBD) (sel rescoring, Intel(R) Core(TM) i9-14900K, RTX4090) | Single | RGB-D | 0.746 | 0.741 | 0.751 | 1.131 | |
| 2024-11-28 | Co-op (CNOS, Coarse, RGBD) (BOP 2024) | single | RGB-D | 0.743 | 0.738 | 0.748 | 2.771 | |
| 2024-09-26 | FreeZeV2 (SAM6D, Coarse-to-Fine) (0.45 to 0.25) | single | RGB-D | 0.741 | 0.739 | 0.742 | 8.411 | |
| 2024-11-28 | Co-op (CNOS, 1 Hypo, RGBD) (BOP 2024) | Single | RGB-D | 0.737 | 0.733 | 0.740 | 6.749 | |
| 2024-11-28 | Co-op (F3DT2D, 5 Hypo, RGBD) (Intel(R) Core(TM) i9-14900K, RTX4090) | Single | RGB-D | 0.734 | 0.729 | 0.738 | 12.343 | |
| 2024-11-28 | Co-op (F3DT2D, 5 Hypo) (Intel(R) Core(TM) i9-14900K, RTX4090) | Single | RGB | 0.732 | 0.716 | 0.748 | 9.090 | |
| 2024-11-29 | Co-op (CNOS, 5 Hypo, RGBD) (BOP 2024) | Single | RGB-D | 0.731 | 0.728 | 0.734 | 18.362 | |
| 2024-11-28 | Co-op (CNOS, 1 Hypo) (BOP 2024) | Single | RGB | 0.727 | 0.713 | 0.742 | 7.763 | |
| 2024-09-26 | FreeZeV2 (SAM6D, Coarse-to-Fine) | single | RGB-D | 0.727 | 0.726 | 0.728 | 8.400 | |
| 2024-11-29 | Co-op (CNOS, 5 Hypo) (BOP 2024) | Single | RGB | 0.723 | 0.709 | 0.738 | 17.299 | |
| 2024-11-28 | Co-op (CNOS, Coarse) (BOP 2024) | Single | RGB | 0.711 | 0.675 | 0.746 | 2.781 | |
| 2024-09-20 | GigaPose+GenFlow (5 hypothesis) | single | RGB | 0.707 | 0.686 | 0.728 | 24.258 | |
| 2024-09-17 | FreeZeV2 (SAM6D) | single | RGB-D | 0.688 | 0.688 | 0.688 | 5.473 | |
| 2024-09-13 | GigaPose+GenFlow (RGBD) (threshold = 0.0) | Single | RGB-D | 0.676 | 0.672 | 0.681 | 6.300 | |
| 2024-09-27 | GigaPose + GenFlow (threshold = 0.6) | Single | RGB | 0.668 | 0.649 | 0.687 | 6.978 | |
| 2024-09-18 | GigaPose+GenFlow+kabsch (5 hypothesis) | single | RGB-D | 0.547 | 0.543 | 0.551 | 25.485 | |
| 2024-09-18 | GigaPose-CVPR24 | single | RGB | 0.182 | 0.098 | 0.266 | 0.774 |
Tip: Hover over the numbers to see more decimal places.