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) | |
|---|---|---|---|---|---|---|---|---|
| 2024-11-24 | FRTPose.v1 (MUSE) | RGB-D | 0.706 | 0.683 | 0.719 | 0.717 | 33.302 | |
| 2024-11-02 | FRTPose.v1 (Default Detections) | RGB-D | 0.705 | 0.681 | 0.718 | 0.716 | 39.698 | |
| 2024-11-02 | FRTPose.v1 (SAM6D-FastSAM) | RGB-D | 0.702 | 0.678 | 0.715 | 0.713 | 31.524 | |
| 2024-11-24 | FRTPose.v1 (Default Detections) | RGB-D | 0.701 | 0.678 | 0.713 | 0.712 | 40.261 | |
| 2024-11-24 | FRTPose.v1 (SAM6D-FastSAM) | RGB-D | 0.698 | 0.675 | 0.711 | 0.709 | 32.019 | |
| 2024-11-29 | FreeZeV2.1 | RGB-D | 0.697 | 0.671 | 0.714 | 0.705 | 46.732 | |
| 2024-09-18 | FreeZeV2 | RGB-D | 0.654 | 0.642 | 0.665 | 0.654 | 29.331 | |
| 2024-11-25 | Co-op (F3DT2D, 5 Hypo, RGBD) (BOP 2024) | RGB-D | 0.635 | 0.595 | 0.657 | 0.653 | 13.094 | |
| 2024-11-25 | Co-op (F3DT2D, 1 Hypo, RGBD) (refine iter 1, magsac++ / Intel(R) Core(TM) i9-14900K, RTX4090) | RGB-D | 0.624 | 0.593 | 0.643 | 0.635 | 1.063 | |
| 2024-09-04 | FRTPose (SAM6D-FastSAM) | RGB-D | 0.601 | 0.580 | 0.613 | 0.610 | 1.019 | |
| 2024-09-07 | FRTPose (SAM6D-FastSAM & top k) | RGB-D | 0.599 | 0.581 | 0.610 | 0.606 | 0.764 | |
| 2024-11-18 | Co-op (CNOS, 5 Hypo, RGBD) | RGB-D | 0.597 | 0.568 | 0.613 | 0.609 | 13.790 | |
| 2024-09-07 | FRTPose (Default Detections) | RGB-D | 0.590 | 0.568 | 0.602 | 0.600 | 1.055 | |
| 2024-11-22 | Co-op (F3DT2D, 5 Hypo) (BOP 2024) | RGB | 0.589 | 0.531 | 0.596 | 0.639 | 7.131 | |
| 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 | |
| 2024-11-18 | Co-op (CNOS, 1 Hypo, RGBD) | RGB-D | 0.575 | 0.572 | 0.583 | 0.569 | 3.938 | |
| 2024-11-18 | Co-op (CNOS, Coarse, RGBD) | RGB-D | 0.564 | 0.567 | 0.570 | 0.556 | 1.422 | |
| 2023-11-30 | GigaPose+GenFlow+kabsch (5 hypothesis) | 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 | |
| 2024-07-30 | FreeZe (SAM6D) | RGB-D | 0.545 | 0.563 | 0.545 | 0.528 | 25.729 | |
| 2024-07-20 | GZS6D-BP(coarse+refine) | RGB-D | 0.544 | 0.538 | 0.549 | 0.546 | 8.671 | |
| 2024-11-22 | Co-op (CNOS, 5 Hypo) (BOP 2024) | RGB | 0.544 | 0.496 | 0.546 | 0.588 | 7.655 | |
| 2023-09-28 | GenFlow-MultiHypo16 | RGB-D | 0.534 | 0.510 | 0.548 | 0.544 | 70.556 | |
| 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 | |
| 2024-11-22 | Co-op (CNOS, 1 Hypo) (BOP 2024) | RGB | 0.512 | 0.478 | 0.510 | 0.548 | 2.711 | |
| 2024-03-04 | SAM6D-FastSAM | RGB-D | 0.510 | 0.507 | 0.514 | 0.510 | 1.485 | |
| 2024-08-25 | FoundationPose(NVIDIA) | RGB-D | 0.508 | 0.490 | 0.514 | 0.520 | 39.714 | |
| 2023-09-28 | SAM6D-BOP2023-CNOSmask | RGB-D | 0.504 | 0.510 | 0.507 | 0.496 | 4.542 | |
| 2024-07-25 | FreeZe (CNOS) | 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 | |
| 2024-08-06 | GigaPose (Concat) + Megapose (5 hypothesis) (GigaPose (Concat/Edge+Harris)) | RGB | 0.483 | 0.434 | 0.475 | 0.540 | 18.001 | |
| 2024-08-04 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Edge)) | RGB | 0.482 | 0.435 | 0.474 | 0.535 | 23.280 | |
| 2024-08-04 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Edge+Harris)) | RGB | 0.480 | 0.433 | 0.472 | 0.534 | 18.979 | |
| 2024-01-26 | FoundPose+FeatRef+Megapose-5hyp (FoundPose+FeatRef+Megapose-5hyp) | RGB | 0.479 | 0.433 | 0.471 | 0.532 | 30.038 | |
| 2024-11-02 | GigaPose+GenFlow (1 hypothesis) | RGB | 0.478 | 0.442 | 0.470 | 0.521 | 4.062 | |
| 2024-08-04 | GigaPose (Concat) + Megapose (5 hypothesis) (GigaPose (Concat/Edge)) | RGB | 0.478 | 0.432 | 0.470 | 0.530 | 40.546 | |
| 2024-08-06 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Harris)) | RGB | 0.474 | 0.428 | 0.466 | 0.528 | 13.574 | |
| 2024-02-28 | GigaPose+MegaPose (5 hypothesis) | RGB | 0.473 | 0.427 | 0.465 | 0.528 | 17.247 | |
| 2024-11-20 | OPFormer-Megapose refinement (CNOS) | RGB | 0.470 | 0.426 | 0.461 | 0.522 | 2.521 | |
| 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 | |
| 2024-09-03 | Co-op (CNOS, Coarse) (coarse only) | RGB | 0.458 | 0.421 | 0.444 | 0.511 | 1.408 | |
| 2023-10-17 | GenFlow-MultiHypo16-RGB | RGB | 0.458 | 0.407 | 0.455 | 0.513 | 83.217 | |
| 2024-11-29 | TF6D (Default, CNOS) + Megapose (5 hypothesis) (TF6D (CNOS) + Megapose (5 hypothesis)) | RGB | 0.457 | 0.408 | 0.451 | 0.511 | 4.463 | |
| 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 | |
| 2024-10-16 | GenFlow | RGB | 0.437 | 0.395 | 0.434 | 0.482 | 21.157 | |
| 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 | PoZe-CNOS | RGB-D | 0.409 | 0.507 | 0.372 | 0.347 | 262.577 | |
| 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 | |
| 2024-11-20 | OPFormer-Coarse (CNOS) | RGB | 0.342 | 0.273 | 0.302 | 0.451 | 0.774 | |
| 2024-11-29 | TF6D (Default, CNOS) (TF6D (CNOS)) | RGB | 0.332 | 0.270 | 0.304 | 0.421 | 1.590 | |
| 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.