This leaderbord shows the ranking for Model-based 6D detection of unseen objects on TUD-L. 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) | |
|---|---|---|---|---|---|---|---|---|
| 2024-11-29 | FreeZeV2.1 | single | RGB-D | 0.991 | 0.989 | 0.993 | 13.850 | |
| 2025-05-31 | FreeZeV2.2 | Single | RGB-D | 0.988 | 0.986 | 0.991 | 18.568 | |
| 2025-05-23 | FRTPose-WAPR（Default Detection） | Single | RGB-D | 0.978 | 0.982 | 0.973 | 15.310 | |
| 2025-05-26 | FRTPose-WAPR（Multi 2D Detections） | Single | RGB-D | 0.976 | 0.980 | 0.972 | 51.722 | |
| 2024-09-19 | FreeZeV2 (SAM6D) (SAR threshold = -1) | single | RGB-D | 0.975 | 0.973 | 0.977 | 26.683 | |
| 2025-05-22 | FRTPose-WAPR（MUSE） (conf-0.45) | Single | RGB-D | 0.963 | 0.966 | 0.959 | 0.463 | |
| 2024-11-02 | FRTPose.v1 (Default Detections) | single | RGB-D | 0.946 | 0.950 | 0.943 | 31.950 | |
| 2024-11-02 | FRTPose.v1 (SAM6D-FastSAM) | single | RGB-D | 0.942 | 0.945 | 0.939 | 27.618 | |
| 2024-11-24 | FRTPose.v1 (SAM6D-FastSAM) | single | RGB-D | 0.941 | 0.944 | 0.938 | 24.596 | |
| 2024-11-24 | FRTPose.v1 (Default Detections) | single | RGB-D | 0.941 | 0.945 | 0.937 | 33.027 | |
| 2024-11-24 | FRTPose.v1 (MUSE) | single | RGB-D | 0.940 | 0.942 | 0.937 | 32.447 | |
| 2024-12-09 | FRTPose.v1 (SAM6D-FastSAM, NIDS, CNOS and MUSE) | single | RGB-D | 0.935 | 0.937 | 0.933 | 44.533 | |
| 2024-09-26 | FreeZeV2 (SAM6D, Coarse-to-Fine) (0.45 to 0.25) | single | RGB-D | 0.902 | 0.900 | 0.904 | 4.579 | |
| 2024-09-26 | FreeZeV2 (SAM6D, Coarse-to-Fine) | single | RGB-D | 0.884 | 0.882 | 0.886 | 4.569 | |
| 2024-11-28 | Co-op (F3DT2D, Coarse, RGBD) (sel rescoring, Intel(R) Core(TM) i9-14900K, RTX4090) | Single | RGB-D | 0.841 | 0.842 | 0.839 | 0.892 | |
| 2024-11-28 | Co-op (CNOS, Coarse, RGBD) (BOP 2024) | single | RGB-D | 0.808 | 0.808 | 0.807 | 1.491 | |
| 2024-11-28 | Co-op (CNOS, 1 Hypo, RGBD) (BOP 2024) | Single | RGB-D | 0.769 | 0.768 | 0.769 | 4.615 | |
| 2024-11-28 | Co-op (F3DT2D, 5 Hypo, RGBD) (Intel(R) Core(TM) i9-14900K, RTX4090) | Single | RGB-D | 0.766 | 0.766 | 0.765 | 10.342 | |
| 2024-09-17 | FreeZeV2 (SAM6D) | single | RGB-D | 0.751 | 0.748 | 0.754 | 2.779 | |
| 2024-11-29 | Co-op (CNOS, 5 Hypo, RGBD) (BOP 2024) | Single | RGB-D | 0.738 | 0.739 | 0.737 | 4.443 | |
| 2024-09-13 | GigaPose+GenFlow (RGBD) (threshold = 0.0) | Single | RGB-D | 0.715 | 0.714 | 0.717 | 2.626 | |
| 2024-09-20 | GigaPose+GenFlow (5 hypothesis) | single | RGB | 0.688 | 0.592 | 0.783 | 6.910 | |
| 2024-11-28 | Co-op (F3DT2D, 5 Hypo) (Intel(R) Core(TM) i9-14900K, RTX4090) | Single | RGB | 0.658 | 0.573 | 0.743 | 9.561 | |
| 2024-11-28 | Co-op (CNOS, 1 Hypo) (BOP 2024) | Single | RGB | 0.641 | 0.555 | 0.727 | 4.358 | |
| 2024-11-28 | Co-op (CNOS, Coarse) (BOP 2024) | Single | RGB | 0.640 | 0.534 | 0.746 | 1.510 | |
| 2024-11-29 | Co-op (CNOS, 5 Hypo) (BOP 2024) | Single | RGB | 0.619 | 0.536 | 0.702 | 6.601 | |
| 2024-09-27 | GigaPose + GenFlow (threshold = 0.6) | Single | RGB | 0.608 | 0.526 | 0.690 | 2.703 | |
| 2024-09-18 | GigaPose+GenFlow+kabsch (5 hypothesis) | single | RGB-D | 0.246 | 0.247 | 0.244 | 7.687 | |
| 2024-09-18 | GigaPose-CVPR24 | single | RGB | 0.035 | 0.017 | 0.052 | 0.459 |
Tip: Hover over the numbers to see more decimal places.