Model-based 6D detection of unseen objects – HB

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.