BOP: Benchmark for 6D Object Pose Estimation

Available tasks:
Model-based tasks on unseen objects: 6D detection 2D detection
Model-based tasks on seen objects: 6D detection 2D detection

Model-based 6D detection of unseen objects – XYZ-IBD

This leaderbord shows the ranking for Model-based 6D detection of unseen objects on XYZ-IBD. The reported time is the average time to generate predictions for all objects in a single image (averaged over the datasets).

Show Average Precision (AP) scores calculated with absolute thresholds (2mm, 4mm, ..., 20mm), instead of standard relative thresholds (5%, 10%, ..., 50% of object diameter).

	Date (UTC)	Submission	Views	Test image	AP	AP_MSSD	AP_MSPD	Time (s)
	2025-03-17	FoundationPose(CNOS-SAM)	Single	RGB-D	0.547	0.561	0.533	0.000
	2025-03-17	SAM6D(SAM)	Single	RGB-D	0.438	0.455	0.421	0.000

Tip: Hover over the numbers to see more decimal places.

Latest submissions to this leaderboard:

2025-03-17 19:57 - SAM6D(SAM) - XYZ-IBD by demiantum
2025-03-17 19:54 - FoundationPose(CNOS-SAM) - XYZ-IBD by demiantum