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 | |
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 | |
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 | |
2024-02-28 | 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 | |
2024-03-04 | 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 | |
2024-07-25 | 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+MegaPose | RGB | 0.547 | 0.554 | 0.510 | 0.633 | 0.430 | 0.346 | 0.695 | 0.661 | 4.398 | |
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 | |
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 | |
2024-01-22 | SAM6D | RGB-D | 0.704 | 0.699 | 0.515 | 0.904 | 0.588 | 0.602 | 0.776 | 0.845 | 4.367 | |
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 | |
2024-09-18 | FreeZe.v2 | RGB-D | 0.792 | 0.764 | 0.708 | 0.972 | 0.654 | 0.679 | 0.859 | 0.906 | 17.153 | |
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 | |
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 | |
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.