This leaderbord shows the ranking for Model-based 6D detection of unseen objects on T-LESS. 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（Default Detection） | Single | RGB-D | 0.826 | 0.817 | 0.835 | 326.236 | |
| 2025-05-26 | FRTPose-WAPR（Multi 2D Detections） | Single | RGB-D | 0.824 | 0.815 | 0.833 | 269.366 | |
| 2025-05-31 | FreeZeV2.2 | Single | RGB-D | 0.777 | 0.768 | 0.787 | 30.064 | |
| 2024-11-24 | FRTPose.v1 (MUSE) | single | RGB-D | 0.775 | 0.767 | 0.784 | 27.866 | |
| 2024-11-24 | FRTPose.v1 (SAM6D-FastSAM) | single | RGB-D | 0.773 | 0.765 | 0.781 | 50.286 | |
| 2024-12-09 | FRTPose.v1 (SAM6D-FastSAM, NIDS, CNOS and MUSE) | single | RGB-D | 0.772 | 0.763 | 0.780 | 53.285 | |
| 2024-11-02 | FRTPose.v1 (SAM6D-FastSAM) | single | RGB-D | 0.769 | 0.761 | 0.778 | 51.222 | |
| 2024-11-24 | FRTPose.v1 (Default Detections) | single | RGB-D | 0.769 | 0.761 | 0.777 | 64.008 | |
| 2024-11-02 | FRTPose.v1 (Default Detections) | single | RGB-D | 0.765 | 0.757 | 0.774 | 65.337 | |
| 2024-11-29 | FreeZeV2.1 | single | RGB-D | 0.751 | 0.743 | 0.759 | 38.008 | |
| 2025-05-22 | FRTPose-WAPR（MUSE） (conf-0.45) | Single | RGB-D | 0.650 | 0.642 | 0.658 | 0.962 | |
| 2024-11-28 | Co-op (F3DT2D, Coarse, RGBD) (sel rescoring, Intel(R) Core(TM) i9-14900K, RTX4090) | Single | RGB-D | 0.620 | 0.613 | 0.627 | 0.885 | |
| 2024-11-28 | Co-op (F3DT2D, 5 Hypo) (Intel(R) Core(TM) i9-14900K, RTX4090) | Single | RGB | 0.616 | 0.575 | 0.657 | 9.295 | |
| 2024-11-28 | Co-op (F3DT2D, 5 Hypo, RGBD) (Intel(R) Core(TM) i9-14900K, RTX4090) | Single | RGB-D | 0.613 | 0.605 | 0.620 | 13.599 | |
| 2024-09-20 | FreeZeV2 (SAM6D) (SAR threshold = -1) | single | RGB-D | 0.610 | 0.602 | 0.618 | 61.017 | |
| 2024-09-20 | FreeZeV2 (SAM6D) (SAR threshold = -1) | single | RGB-D | 0.610 | 0.602 | 0.618 | 61.017 | |
| 2024-09-26 | FreeZeV2 (SAM6D, Coarse-to-Fine) (0.45 to 0.25) | single | RGB-D | 0.601 | 0.594 | 0.609 | 15.473 | |
| 2024-11-28 | Co-op (CNOS, Coarse, RGBD) (BOP 2024) | single | RGB-D | 0.596 | 0.590 | 0.602 | 3.088 | |
| 2024-09-26 | FreeZeV2 (SAM6D, Coarse-to-Fine) | single | RGB-D | 0.592 | 0.585 | 0.599 | 15.244 | |
| 2024-11-29 | Co-op (CNOS, 5 Hypo) (BOP 2024) | Single | RGB | 0.590 | 0.552 | 0.628 | 13.341 | |
| 2024-11-29 | Co-op (CNOS, 5 Hypo, RGBD) (BOP 2024) | Single | RGB-D | 0.589 | 0.582 | 0.596 | 17.738 | |
| 2024-11-28 | Co-op (CNOS, 1 Hypo) (BOP 2024) | Single | RGB | 0.588 | 0.549 | 0.627 | 9.093 | |
| 2024-11-28 | Co-op (CNOS, 1 Hypo, RGBD) (BOP 2024) | Single | RGB-D | 0.583 | 0.576 | 0.591 | 10.194 | |
| 2024-09-20 | GigaPose+GenFlow (5 hypothesis) | single | RGB | 0.565 | 0.526 | 0.603 | 22.030 | |
| 2024-11-28 | Co-op (CNOS, Coarse) (BOP 2024) | Single | RGB | 0.558 | 0.497 | 0.619 | 3.104 | |
| 2024-09-18 | GigaPose+GenFlow+kabsch (5 hypothesis) | single | RGB-D | 0.526 | 0.520 | 0.532 | 22.977 | |
| 2024-09-13 | GigaPose+GenFlow (RGBD) (threshold = 0.0) | Single | RGB-D | 0.467 | 0.462 | 0.473 | 5.922 | |
| 2024-09-17 | FreeZeV2 (SAM6D) | single | RGB-D | 0.445 | 0.439 | 0.450 | 11.137 | |
| 2024-09-27 | GigaPose + GenFlow (threshold = 0.6) | Single | RGB | 0.436 | 0.405 | 0.467 | 5.987 | |
| 2024-09-18 | GigaPose-CVPR24 | single | RGB | 0.255 | 0.100 | 0.410 | 0.963 |
Tip: Hover over the numbers to see more decimal places.