BOP: Benchmark for 6D Object Pose Estimation

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 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 D, the submission with the highest AR_D score is considered. The reported time is the average time to generate predictions for all objects in a single image (averaged over the datasets).

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	Date (UTC)	Method	Test image	AR_Core	AR_LM-O	AR_T-LESS	AR_TUD-L	AR_IC-BIN	AR_ITODD	AR_HB	AR_YCB-V	Time (s)
1	2024-12-09	FRTPose.v1 (SAM6D-FastSAM, NIDS, ...	RGB-D	0.825	0.795	0.768	0.940	0.719	0.744	0.904	0.909	45.367
2	2024-11-29	FreeZeV2.1	RGB-D	0.821	0.771	0.755	0.976	0.697	0.742	0.892	0.915	24.892
3	2024-11-24	FRTPose.v1 (SAM6D-FastSAM)	RGB-D	0.818	0.778	0.766	0.940	0.702	0.737	0.896	0.910	40.090
4	2024-11-24	FRTPose.v1 (Default Detections)	RGB-D	0.818	0.777	0.763	0.940	0.705	0.735	0.896	0.910	46.533
5	2024-11-24	FRTPose.v1 (MUSE)	RGB-D	0.818	0.786	0.768	0.942	0.706	0.710	0.903	0.910	27.560
6	2024-09-18	FreeZeV2	RGB-D	0.792	0.764	0.708	0.972	0.654	0.679	0.859	0.906	17.153
7	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
8	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
9	2024-11-25	Co-op (F3DT2D, 5 Hypo, RGBD)	RGB-D	0.771	0.738	0.695	0.929	0.635	0.629	0.878	0.898	6.924
10	2024-11-25	Co-op (F3DT2D, 1 Hypo, RGBD)	RGB-D	0.759	0.730	0.680	0.929	0.624	0.600	0.863	0.886	0.765
11	2024-11-18	Co-op (CNOS, 5 Hypo, RGBD)	RGB-D	0.752	0.730	0.664	0.905	0.597	0.613	0.871	0.887	7.162
12	2024-11-18	Co-op (CNOS, 1 Hypo, RGBD)	RGB-D	0.736	0.715	0.646	0.905	0.575	0.582	0.857	0.874	2.331
13	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
14	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
15	2024-11-18	Co-op (CNOS, Coarse, RGBD)	RGB-D	0.721	0.700	0.642	0.879	0.564	0.566	0.842	0.853	0.978
16	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
17	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
18	2024-01-22	SAM6D	RGB-D	0.704	0.699	0.515	0.904	0.588	0.602	0.776	0.845	4.367
19	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
20	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
21	2024-11-22	Co-op (F3DT2D, 5 Hypo)	RGB	0.682	0.675	0.682	0.767	0.589	0.506	0.856	0.697	3.932
22	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
23	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
24	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
25	2024-11-22	Co-op (CNOS, 5 Hypo)	RGB	0.658	0.655	0.648	0.729	0.544	0.491	0.850	0.689	4.190
26	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
27	2024-11-22	Co-op (CNOS, 1 Hypo)	RGB	0.640	0.642	0.635	0.717	0.512	0.473	0.832	0.670	1.730
28	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
29	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
30	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
31	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
32	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
33	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
34	2025-01-30	OPFormer-Megapose refinement (CNOS)	RGB	0.598	0.600	0.534	0.704	0.502	0.392	0.767	0.690	1.708
35	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
36	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
37	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
38	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
39	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
40	2024-11-29	TF6D (Default, CNOS) + Megapose (...	RGB	0.574	0.560	0.590	0.669	0.457	0.375	0.701	0.665	4.093
41	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
42	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
43	2024-11-02	GigaPose + GenFlow	RGB	0.568	0.595	0.550	0.607	0.478	0.413	0.722	0.608	2.213
44	2025-01-29	OPFormer-Coarse (CNOS)	RGB	0.561	0.570	0.446	0.712	0.456	0.355	0.744	0.646	0.538
45	2024-10-16	GenFlow	RGB	0.557	0.547	0.514	0.670	0.437	0.384	0.730	0.619	10.553
46	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
47	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
48	2024-01-29	FoundPose+MegaPose	RGB	0.547	0.554	0.510	0.633	0.430	0.346	0.695	0.661	4.398
49	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
50	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

Showing 1 to 50 of 63 entries

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Latest submissions to this leaderboard:

2025-01-30 08:10 - OPFormer-Megapose refinement (CNOS) - ITODD - Refined Main by morozart
2025-01-30 07:54 - OPFormer-Megapose refinement (CNOS) - T-LESS - Refined Main by morozart
2025-01-29 23:56 - OPFormer-Megapose refinement (CNOS) - YCB-V - Refined Main by morozart
2025-01-29 23:34 - OPFormer-Megapose refinement (CNOS) - IC-BIN - Refined Main by morozart
2025-01-29 23:26 - OPFormer-Megapose refinement (CNOS) - HB - Refined Main by morozart
2025-01-29 23:18 - OPFormer-Megapose refinement (CNOS) - TUD-L - Refined Main by morozart
2025-01-29 23:09 - OPFormer-Megapose refinement (CNOS) - LM-O - Refined Main by morozart
2025-01-29 21:44 - OPFormer-Coarse (CNOS) - ITODD - Coarse Main by morozart
2025-01-29 21:22 - OPFormer-Coarse (CNOS) - T-LESS - Coarse Main by morozart
2025-01-29 21:03 - OPFormer-Coarse (CNOS) - TUD-L - Coarse Main by morozart