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BOP-Classic: Average on BOP-Classic-Core |   LM-O YCB-V T-LESS ITODD HB IC-BIN TUD-L |   HOPE LM RU-APC IC-MI TYO-L
BOP-H3: Average on BOP-H3 |   HOT3D HANDAL HOPEv2
Available tasks:
Model-based tasks on seen objects: 6D localization 6D detection 2D detection 2D segmentation
Model-based tasks on unseen objects: 6D localization 6D detection 2D detection 2D segmentation

Model-based 6D localization of unseen objects – BOP-Classic-Core

This leaderbord shows the overall ranking for Model-based 6D localization of unseen objects on the BOP-Classic-Core (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). For each method, the date of the latest considered submission is reported. If more submissions of a method are available for a dataset, the submission with the highest ARCore score is considered. The reported time is the average image processing time averaged over the core datasets.

Date (UTC) Method Test image ARCore ARLM-O ART-LESS ARTUD-L ARIC-BIN ARITODD ARHB ARYCB-V Time (s)
2023-09-26 PoZe-CNOS RGB-D 0.616 0.644 0.494 0.924 0.409 0.516 0.712 0.611 159.425
2023-09-27 Megapose-CNOS_fastSAM+Multihyp_Te... RGB-D 0.623 0.620 0.485 0.846 0.462 0.460 0.725 0.764 116.564
2024-11-02 GigaPose+GenFlow (1 hypothesis) RGB 0.568 0.595 0.550 0.607 0.478 0.413 0.722 0.608 2.213
2024-09-18 FreeZe.v2 RGB-D 0.792 0.764 0.708 0.972 0.654 0.679 0.859 0.906 17.153
2023-09-26 GenFlow-coarse RGB 0.235 0.250 0.215 0.300 0.168 0.154 0.283 0.277 3.839
2023-09-25 GenFlow-MultiHypo RGB-D 0.662 0.622 0.509 0.849 0.524 0.544 0.770 0.818 21.457
2024-10-16 GenFlow RGB 0.557 0.547 0.514 0.670 0.437 0.384 0.730 0.619 10.553
2023-09-26 GenFlow-MultiHypo-RGB RGB 0.570 0.563 0.523 0.684 0.453 0.395 0.739 0.633 20.890
2024-11-02 FRTPose.v1 (SAM6D-FastSAM) RGB-D 0.818 0.778 0.764 0.938 0.702 0.734 0.896 0.910 40.651
2024-02-28 GigaPose RGB 0.268 0.296 0.264 0.300 0.223 0.175 0.341 0.278 0.384
2024-02-28 GigaPose+MegaPose (5 hypothesis) RGB 0.578 0.598 0.565 0.631 0.473 0.397 0.722 0.661 7.682
2024-11-02 FRTPose.v1 (Default Detections) RGB-D 0.817 0.777 0.760 0.938 0.705 0.732 0.896 0.910 46.697
2024-03-04 SAM6D-CNOSfastSAM RGB-D 0.653 0.651 0.479 0.825 0.497 0.562 0.738 0.815 1.254
2024-03-04 SAM6D-ZeroPose RGB-D 0.622 0.635 0.430 0.802 0.518 0.484 0.691 0.792 5.482
2023-09-26 Megapose-CNOS_fastSAM+MultiHyp-10 RGB 0.549 0.560 0.508 0.687 0.419 0.346 0.706 0.620 53.878
2023-09-28 SAM6D-BOP2023-CNOSmask RGB-D 0.616 0.648 0.483 0.794 0.504 0.351 0.727 0.804 3.872
2023-09-27 Megapose-CNOS_fastSAM+Multihyp_Te... RGB-D 0.628 0.626 0.487 0.851 0.467 0.468 0.730 0.764 141.965
2023-09-28 GenFlow-MultiHypo16 RGB-D 0.674 0.635 0.521 0.862 0.534 0.554 0.779 0.833 34.578
2024-01-22 SAM6D RGB-D 0.704 0.699 0.515 0.904 0.588 0.602 0.776 0.845 4.367
2024-01-29 FoundPose+MegaPose RGB 0.547 0.554 0.510 0.633 0.430 0.346 0.695 0.661 4.398
2024-09-03 Co-op (CNOS, Coarse) RGB 0.584 0.597 0.592 0.642 0.458 0.391 0.781 0.626 0.979
2023-11-02 MegaPose-CNOS_fastSAM+CoarseBest RGB 0.208 0.229 0.177 0.258 0.152 0.108 0.251 0.281 15.465
2024-09-04 FRTPose (SAM6D-FastSAM) RGB-D 0.783 0.783 0.717 0.925 0.601 0.646 0.896 0.913 20.718
2024-09-07 FRTPose (SAM6D-FastSAM & top k) RGB-D 0.724 0.703 0.581 0.871 0.599 0.644 0.804 0.869 0.754
2023-11-12 SMC-0.5s-CNOS D 0.433 0.512 0.415 0.511 0.290 0.358 0.538 0.403 2.992
2023-11-12 SMC-1.0s-CNOS D 0.475 0.558 0.423 0.599 0.316 0.389 0.585 0.454 6.051
2024-09-07 FRTPose (Default Detections) RGB-D 0.777 0.783 0.714 0.922 0.590 0.618 0.896 0.913 23.379
2024-08-27 FoundationPose(NVIDIA) RGB-D 0.734 0.756 0.646 0.923 0.508 0.580 0.835 0.889 29.317
2024-03-04 SAM6D-FastSAM RGB-D 0.662 0.667 0.485 0.829 0.510 0.572 0.736 0.834 1.426
2024-02-28 GigaPose+MegaPose (1 hypothesis) RGB 0.547 0.557 0.541 0.580 0.450 0.376 0.693 0.632 2.301
2023-11-30 GigaPose+GenFlow (5 hypothesis) RGB 0.605 0.631 0.582 0.664 0.498 0.453 0.756 0.652 10.637
2023-11-30 GigaPose+GenFlow+kabsch (5 hypoth... RGB-D 0.686 0.678 0.556 0.811 0.563 0.575 0.791 0.825 11.140
2024-08-04 GigaPose (Add) + Megapose (5 hypo... RGB 0.585 0.604 0.576 0.648 0.482 0.398 0.724 0.666 10.769
2024-09-12 Co-op (SAM6D, 5 Hypo) RGB 0.662 0.654 0.659 0.740 0.543 0.512 0.842 0.682 4.087
2024-08-06 GigaPose (Concat) + Megapose (5 ... RGB 0.606 0.654 0.483 0.400 0.666
2023-09-27 ZeroPose-Multi-Hypo-Refinement-De... RGB-D 0.570 0.538 0.400 0.835 0.392 0.521 0.653 0.653 16.168
2024-09-13 Co-op (SAM6D, 1 Hypo, RGBD) RGB-D 0.739 0.713 0.656 0.916 0.571 0.603 0.847 0.866 0.868
2024-09-13 Co-op (SAM6D, 5 Hypo, RGBD) RGB-D 0.754 0.722 0.679 0.913 0.590 0.630 0.864 0.882 7.185
2024-07-20 GZS6D-BP(coarse+refine) RGB-D 0.671 0.907 0.544 0.584 0.795 0.758
2024-09-14 GZS6D-BP(coarse+refine+teaser) RGB-D 0.717 0.678 0.694 0.922 0.550 0.597 0.803 0.772 6.516
2024-09-14 Co-op (CNOS, 5 Hypo, RGBD) RGB-D 0.749 0.721 0.665 0.903 0.589 0.615 0.865 0.882 7.286
2024-09-19 Co-op (CNOS, 5 Hypo) RGB 0.656 0.653 0.645 0.735 0.538 0.498 0.844 0.680 4.156
2024-07-25 FreeZe (CNOS) RGB-D 0.693 0.689 0.520 0.936 0.499 0.561 0.790 0.853 13.474
2024-01-29 FoundPose+FeatRef+Megapose RGB 0.550 0.556 0.511 0.633 0.433 0.357 0.697 0.661 6.385
2024-07-30 FreeZe (SAM6D) RGB-D 0.709 0.716 0.531 0.949 0.545 0.586 0.796 0.840 11.473
2023-08-22 ZeroPose-One-Hypo RGB-D 0.348 0.272 0.156 0.536 0.307 0.362 0.462 0.341 9.756
2023-09-27 ZeroPose-Multi-Hypo-Refinement RGB-D 0.534 0.493 0.342 0.790 0.396 0.465 0.629 0.623 18.971
2024-01-27 FoundPose+FeatRef+Megapose-5hyp RGB 0.596 0.610 0.570 0.693 0.479 0.407 0.723 0.690 20.523
2023-10-18 GenFlow-MultiHypo16-RGB RGB 0.576 0.572 0.528 0.688 0.458 0.398 0.746 0.642 40.528
2024-01-29 FoundPose+FeatRef RGB 0.426 0.395 0.396 0.567 0.283 0.262 0.585 0.497 2.648
2023-09-04 MegaPose-CNOS_fastSAM RGB 0.509 0.499 0.477 0.653 0.367 0.315 0.654 0.601 31.724
2023-09-26 Megapose-CNOS_fastSAM+MultiHyp RGB 0.547 0.560 0.507 0.684 0.414 0.338 0.704 0.621 47.386
2024-01-28 FoundPose-Coarse RGB 0.373 0.397 0.338 0.469 0.239 0.204 0.508 0.452 1.690

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

Latest submissions to this leaderboard: