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BOP-Classic: Core datasets |   HOPE LM LM-O YCB-V RU-APC T-LESS ITODD HB IC-BIN IC-MI TUD-L TYO-L
BOP-H3: Average-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 – IC-BIN

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

Date (UTC) Submission Test image AR ARVSD ARMSSD ARMSPD Time (s)
2024-01-22 SAM6D RGB-D 0.588 0.580 0.596 0.587 4.307
2024-01-11 SAM6D RGB-D 0.580 0.577 0.586 0.578 4.309
2023-11-30 GigaPose+GenFlow+kabsch RGB-D 0.563 0.539 0.578 0.571 19.960
2023-11-18 SAM6D RGB-D 0.561 0.570 0.561 0.552 1.547
2024-07-16 GZS6D-BP(coarse+refine+teaser) (coarse+refine+teaser) RGB-D 0.550 0.547 0.553 0.551 9.079
2024-07-20 GZS6D-BP(coarse+refine) RGB-D 0.544 0.538 0.549 0.546 8.671
2023-09-28 GenFlow-MultiHypo16 RGB-D 0.534 0.510 0.548 0.544 70.556
2023-11-19 FoundationPose(NVIDIA) RGB-D 0.528 0.511 0.536 0.538 -1.000
2023-09-22 GenFlow-MultiHypo RGB-D 0.524 0.499 0.538 0.534 43.449
2023-09-25 GenFlow-MultiHypo RGB-D 0.521 0.499 0.535 0.530 43.939
2024-03-04 SAM6D-ZeroPose RGB-D 0.518 0.514 0.523 0.517 5.482
2024-03-04 SAM6D-FastSAM RGB-D 0.510 0.507 0.514 0.510 1.485
2023-09-28 SAM6D-BOP2023-CNOSmask RGB-D 0.504 0.510 0.507 0.496 4.542
2024-07-25 FreeZe RGB-D 0.499 0.517 0.496 0.484 26.913
2023-11-30 GigaPose+GenFlow (5 hypothesis) RGB 0.498 0.448 0.495 0.551 19.176
2024-03-04 SAM6D-CNOSfastSAM RGB-D 0.497 0.500 0.497 0.493 1.302
2024-01-26 FoundPose+FeatRef+Megapose-5hyp (FoundPose+FeatRef+Megapose-5hyp) RGB 0.479 0.433 0.471 0.532 30.038
2024-02-28 GigaPose+MegaPose (5 hypothesis) RGB 0.473 0.427 0.465 0.528 17.247
2023-09-27 Megapose-CNOS_fastSAM+Multihyp_Teaserpp-10 RGB-D 0.467 0.452 0.474 0.475 232.127
2023-09-27 Megapose-CNOS_fastSAM+Multihyp_Teaserpp RGB-D 0.462 0.449 0.467 0.469 168.470
2023-10-17 GenFlow-MultiHypo16-RGB RGB 0.458 0.407 0.455 0.513 83.217
2023-09-26 GenFlow-MultiHypo-RGB RGB 0.453 0.402 0.450 0.507 42.786
2023-09-21 GenFlow-MultiHypo-RGB RGB 0.452 0.403 0.448 0.505 42.551
2024-02-28 GigaPose+MegaPose (1 hypothesis) RGB 0.450 0.418 0.438 0.494 4.946
2024-01-29 FoundPose+FeatRef+Megapose (FoundPose+FeatRef+Megapose) RGB 0.433 0.405 0.420 0.475 8.773
2024-01-29 FoundPose+MegaPose (FoundPose+MegaPose) RGB 0.430 0.399 0.417 0.474 6.549
2023-09-26 Megapose-CNOS_fastSAM+MultiHyp-10 RGB 0.419 0.384 0.407 0.465 86.495
2023-09-26 Megapose-CNOS_fastSAM+MultiHyp RGB 0.414 0.384 0.402 0.457 75.101
2023-09-26 ZeroPose-Multi-Hypo-Refinement RGB-D 0.396 0.418 0.387 0.382 24.626
2023-09-26 ZeroPose-Multi-Hypo-Refinement-DefaultSeg RGB-D 0.392 0.423 0.377 0.375 21.764
2023-09-04 MegaPose-CNOS_fastSAM RGB 0.367 0.337 0.361 0.402 60.419
2023-11-12 SMC-1.0s-CNOS D 0.316 0.438 0.268 0.241 12.103
2023-08-22 ZeroPose-One-Hypo RGB-D 0.307 0.319 0.307 0.294 13.854
2023-11-12 SMC-0.5s-CNOS D 0.290 0.413 0.242 0.215 5.755
2024-01-27 FoundPose+FeatRef (FoundPose+FeatRef) RGB 0.283 0.233 0.236 0.380 5.232
2024-01-27 FoundPose-Coarse (FoundPose-Coarse) RGB 0.239 0.184 0.193 0.339 3.237
2024-02-28 GigaPose RGB 0.223 0.143 0.178 0.348 0.429
2023-09-18 GenFlow-coarse RGB 0.168 0.096 0.133 0.276 7.459
2023-09-26 GenFlow-coarse RGB 0.167 0.094 0.131 0.275 7.612
2023-11-02 MegaPose-CNOS_fastSAM+CoarseBest RGB 0.152 0.094 0.122 0.240 32.719

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

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