This leaderbord shows the ranking for Model-based 6D localization of unseen objects on HB. The reported time is the average time to generate predictions for all objects in a single image (averaged over the datasets).
| Date (UTC) | Submission | Test image | AR | ARVSD | ARMSSD | ARMSPD | Time (s) | |
|---|---|---|---|---|---|---|---|---|
| 2024-12-09 | FRTPose.v1 (SAM6D-FastSAM, NIDS, CNOS and MUSE) | RGB-D | 0.904 | 0.881 | 0.915 | 0.916 | 65.467 | |
| 2024-11-24 | FRTPose.v1 (MUSE) | RGB-D | 0.903 | 0.879 | 0.914 | 0.915 | 35.468 | |
| 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 | |
| 2024-11-24 | FRTPose.v1 (Default Detections) | RGB-D | 0.896 | 0.873 | 0.906 | 0.908 | 70.121 | |
| 2024-09-04 | FRTPose (SAM6D-FastSAM) | RGB-D | 0.896 | 0.872 | 0.907 | 0.908 | 41.448 | |
| 2024-11-24 | FRTPose.v1 (SAM6D-FastSAM) | RGB-D | 0.895 | 0.872 | 0.906 | 0.908 | 67.698 | |
| 2024-11-29 | FreeZeV2.1 | RGB-D | 0.892 | 0.855 | 0.908 | 0.912 | 21.055 | |
| 2024-11-25 | Co-op (F3DT2D, 5 Hypo, RGBD) (BOP 2024) | RGB-D | 0.878 | 0.857 | 0.886 | 0.891 | 7.450 | |
| 2024-11-18 | Co-op (CNOS, 5 Hypo, RGBD) | RGB-D | 0.871 | 0.852 | 0.878 | 0.884 | 7.661 | |
| 2024-11-25 | Co-op (F3DT2D, 1 Hypo, RGBD) (refine iter 1, magsac++ / Intel(R) Core(TM) i9-14900K, RTX4090) | RGB-D | 0.863 | 0.846 | 0.869 | 0.873 | 1.006 | |
| 2024-09-17 | FreeZeV2 | RGB-D | 0.859 | 0.827 | 0.874 | 0.876 | 13.194 | |
| 2024-11-18 | Co-op (CNOS, 1 Hypo, RGBD) | RGB-D | 0.857 | 0.842 | 0.862 | 0.867 | 2.619 | |
| 2024-11-22 | Co-op (F3DT2D, 5 Hypo) (BOP 2024) | RGB | 0.856 | 0.829 | 0.857 | 0.882 | 4.451 | |
| 2024-11-22 | Co-op (CNOS, 5 Hypo) (BOP 2024) | RGB | 0.850 | 0.824 | 0.851 | 0.875 | 4.726 | |
| 2024-11-18 | Co-op (CNOS, Coarse, RGBD) | RGB-D | 0.842 | 0.817 | 0.850 | 0.857 | 0.928 | |
| 2024-08-27 | FoundationPose(NVIDIA) | RGB-D | 0.835 | 0.807 | 0.848 | 0.851 | 21.652 | |
| 2024-11-22 | Co-op (CNOS, 1 Hypo) (BOP 2024) | RGB | 0.832 | 0.810 | 0.832 | 0.855 | 1.941 | |
| 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 | |
| 2025-01-29 | OPFormer-Megapose refinement (CNOS) (Refined Main) | RGB | 0.767 | 0.729 | 0.762 | 0.810 | 1.538 | |
| 2024-11-20 | OPFormer-Megapose refinement (CNOS) | RGB | 0.760 | 0.723 | 0.754 | 0.802 | 1.487 | |
| 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 | |
| 2025-01-29 | OPFormer-Coarse (CNOS) (Coarse Main) | RGB | 0.744 | 0.697 | 0.732 | 0.803 | 0.450 | |
| 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 | 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 | |
| 2024-11-13 | TF6D (Default, CNOS) + Megapose (5 hypothesis) (TF6D (CNOS) + Megapose (5 hypothesis)) | RGB | 0.701 | 0.676 | 0.690 | 0.737 | 5.362 | |
| 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 | |
| 2024-11-20 | OPFormer-Coarse (CNOS) | RGB | 0.673 | 0.599 | 0.650 | 0.770 | 0.424 | |
| 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 | |
| 2024-11-29 | TF6D (Default, CNOS) (TF6D (CNOS)) | RGB | 0.537 | 0.485 | 0.512 | 0.613 | 1.873 | |
| 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.