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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 – HB

This leaderbord shows the ranking for Model-based 6D localization of unseen objects on HB. The reported time is the average image processing time.

Date (UTC) Submission Test image AR ARVSD ARMSSD ARMSPD Time (s)
2024-11-02 FRTPose.v1 (SAM6D-FastSAM) RGB-D 0.896 0.873 0.907 0.909 69.268
2024-09-07 FRTPose (Default Detections) RGB-D 0.896 0.872 0.907 0.909 41.824
2024-11-02 FRTPose.v1 (Default Detections) RGB-D 0.896 0.873 0.906 0.909 72.033
2024-09-04 FRTPose (SAM6D-FastSAM) RGB-D 0.896 0.872 0.907 0.908 41.448
2024-09-14 Co-op (CNOS, 5 Hypo, RGBD) (default detection(CNOS)) RGB-D 0.865 0.849 0.870 0.875 7.825
2024-09-13 Co-op (SAM6D, 5 Hypo, RGBD) RGB-D 0.864 0.849 0.868 0.873 8.276
2024-09-17 FreeZe.v2 RGB-D 0.859 0.827 0.874 0.876 13.194
2024-09-13 Co-op (SAM6D, 1 Hypo, RGBD) (refine iter 1, magsac++ / Intel(R) Core(TM) i9-14900K, RTX4090) RGB-D 0.847 0.831 0.852 0.858 1.174
2024-09-19 Co-op (CNOS, 5 Hypo) RGB 0.844 0.822 0.844 0.867 4.628
2024-09-12 Co-op (SAM6D, 5 Hypo) RGB 0.842 0.821 0.842 0.865 4.702
2024-08-27 FoundationPose(NVIDIA) RGB-D 0.835 0.807 0.848 0.851 21.652
2024-09-07 FRTPose (SAM6D-FastSAM & top k) RGB-D 0.804 0.781 0.815 0.816 0.900
2024-07-16 GZS6D-BP(coarse+refine+teaser) (coarse+refine+teaser) RGB-D 0.803 0.715 0.840 0.854 8.180
2024-07-30 FreeZe (SAM6D) RGB-D 0.796 0.772 0.808 0.807 8.774
2024-07-20 GZS6D-BP(coarse+refine) RGB-D 0.795 0.700 0.836 0.850 7.177
2023-11-30 GigaPose+GenFlow+kabsch (5 hypothesis) RGB-D 0.791 0.775 0.795 0.804 12.194
2024-07-25 FreeZe (CNOS) RGB-D 0.790 0.757 0.806 0.807 9.398
2024-09-03 Co-op (CNOS, Coarse) (coarse only) RGB 0.781 0.734 0.775 0.835 0.929
2023-09-28 GenFlow-MultiHypo16 RGB-D 0.779 0.761 0.785 0.793 32.664
2024-01-11 SAM6D RGB-D 0.776 0.752 0.786 0.791 4.820
2023-09-22 GenFlow-MultiHypo RGB-D 0.770 0.750 0.775 0.783 20.031
2024-01-22 SAM6D RGB-D 0.769 0.753 0.775 0.781 4.774
2023-09-25 GenFlow-MultiHypo RGB-D 0.768 0.750 0.773 0.781 21.249
2023-11-30 GigaPose+GenFlow (5 hypothesis) RGB 0.756 0.730 0.753 0.783 11.550
2023-11-18 SAM6D RGB-D 0.754 0.745 0.756 0.760 2.090
2023-10-17 GenFlow-MultiHypo16-RGB RGB 0.746 0.720 0.745 0.774 37.707
2023-09-21 GenFlow-MultiHypo-RGB RGB 0.739 0.713 0.738 0.768 19.318
2023-09-26 GenFlow-MultiHypo-RGB RGB 0.739 0.713 0.737 0.767 20.557
2024-03-04 SAM6D-CNOSfastSAM RGB-D 0.738 0.716 0.747 0.751 1.458
2024-03-04 SAM6D-FastSAM RGB-D 0.736 0.716 0.744 0.747 1.650
2024-10-16 GenFlow RGB 0.730 0.704 0.728 0.759 11.009
2023-09-27 Megapose-CNOS_fastSAM+Multihyp_Teaserpp-10 RGB-D 0.730 0.711 0.735 0.745 110.312
2023-09-28 SAM6D-BOP2023-CNOSmask RGB-D 0.727 0.711 0.732 0.737 4.680
2023-09-27 Megapose-CNOS_fastSAM+Multihyp_Teaserpp RGB-D 0.725 0.707 0.729 0.740 95.948
2024-08-04 GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Edge)) RGB 0.724 0.692 0.715 0.767 9.644
2023-11-16 FoundPose+FeatRef+Megapose-5hyp (FoundPose+FeatRef+Megapose-5hyp) RGB 0.723 0.689 0.710 0.768 31.081
2024-11-02 GigaPose+GenFlow (1 hypothesis) RGB 0.722 0.704 0.716 0.747 2.595
2024-02-28 GigaPose+MegaPose (5 hypothesis) RGB 0.722 0.689 0.713 0.765 7.041
2024-08-04 GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Edge+Harris)) RGB 0.720 0.687 0.710 0.764 9.686
2024-08-06 GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Harris)) RGB 0.714 0.682 0.706 0.756 8.026
2023-09-26 PoZe-CNOS RGB-D 0.712 0.718 0.709 0.710 159.671
2023-09-26 Megapose-CNOS_fastSAM+MultiHyp-10 RGB 0.706 0.674 0.696 0.749 49.224
2023-09-26 Megapose-CNOS_fastSAM+MultiHyp RGB 0.704 0.674 0.694 0.744 43.782
2023-11-15 FoundPose+FeatRef+Megapose (FoundPose+FeatRef+Megapose) RGB 0.697 0.665 0.686 0.738 6.658
2023-11-15 FoundPose+MegaPose (FoundPose+MegaPose) RGB 0.695 0.664 0.684 0.736 5.003
2024-02-28 GigaPose+MegaPose (1 hypothesis) RGB 0.693 0.664 0.682 0.731 3.346
2024-03-04 SAM6D-ZeroPose RGB-D 0.691 0.673 0.698 0.702 5.318
2023-09-04 MegaPose-CNOS_fastSAM RGB 0.654 0.630 0.644 0.690 34.619
2023-09-26 ZeroPose-Multi-Hypo-Refinement-DefaultSeg RGB-D 0.653 0.657 0.649 0.653 12.033
2023-09-26 ZeroPose-Multi-Hypo-Refinement RGB-D 0.629 0.637 0.622 0.627 14.854
2023-11-12 SMC-1.0s-CNOS D 0.585 0.585 0.583 0.587 5.614
2023-11-15 FoundPose+FeatRef (FoundPose+FeatRef) RGB 0.585 0.511 0.546 0.697 2.820
2023-11-12 SMC-0.5s-CNOS D 0.538 0.556 0.529 0.530 2.795
2023-11-15 FoundPose-Coarse (FoundPose-Coarse) RGB 0.508 0.410 0.465 0.650 1.812
2023-08-22 ZeroPose-One-Hypo RGB-D 0.462 0.465 0.458 0.462 7.649
2024-02-28 GigaPose RGB 0.341 0.220 0.277 0.525 0.403
2023-09-18 GenFlow-coarse RGB 0.283 0.144 0.254 0.451 4.019
2023-09-26 GenFlow-coarse RGB 0.283 0.144 0.254 0.450 5.108
2023-11-02 MegaPose-CNOS_fastSAM+CoarseBest RGB 0.251 0.133 0.222 0.397 15.188

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

Latest submissions to this leaderboard: