This leaderbord shows the ranking for Model-based 6D localization of unseen objects on ITODD. 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) | |
---|---|---|---|---|---|---|---|---|
2025-05-23 | FRTPose-WAPR(Default Detection) | RGB-D | 0.758 | 0.672 | 0.810 | 0.792 | 74.635 | |
2025-05-26 | FRTPose-WAPR(Multi 2D Detections) | RGB-D | 0.756 | 0.672 | 0.809 | 0.788 | 74.635 | |
2025-05-31 | FreeZeV2.2 | RGB-D | 0.754 | 0.676 | 0.800 | 0.787 | 12.122 | |
2024-12-09 | FRTPose.v1 (SAM6D-FastSAM, NIDS, CNOS and MUSE) | RGB-D | 0.744 | 0.662 | 0.793 | 0.776 | 10.755 | |
2024-11-29 | FreeZeV2.1 | RGB-D | 0.742 | 0.661 | 0.787 | 0.777 | 24.422 | |
2024-11-24 | FRTPose.v1 (SAM6D-FastSAM) | RGB-D | 0.737 | 0.657 | 0.786 | 0.769 | 9.672 | |
2024-11-24 | FRTPose.v1 (Default Detections) | RGB-D | 0.735 | 0.654 | 0.784 | 0.768 | 9.985 | |
2024-11-02 | FRTPose.v1 (SAM6D-FastSAM) | RGB-D | 0.734 | 0.653 | 0.783 | 0.767 | 9.643 | |
2024-11-02 | FRTPose.v1 (Default Detections) | RGB-D | 0.732 | 0.651 | 0.781 | 0.765 | 10.238 | |
2024-11-24 | FRTPose.v1 (MUSE) | RGB-D | 0.710 | 0.636 | 0.758 | 0.736 | 5.769 | |
2024-09-18 | FreeZeV2 | RGB-D | 0.679 | 0.604 | 0.720 | 0.712 | 18.292 | |
2025-05-22 | FRTPose-WAPR(MUSE) | RGB-D | 0.660 | 0.586 | 0.706 | 0.687 | 0.235 | |
2024-09-04 | FRTPose (SAM6D-FastSAM) | RGB-D | 0.646 | 0.577 | 0.689 | 0.672 | 0.972 | |
2024-09-07 | FRTPose (SAM6D-FastSAM & top k) | RGB-D | 0.644 | 0.575 | 0.687 | 0.671 | 0.758 | |
2024-11-25 | Co-op (F3DT2D, 5 Hypo, RGBD) (BOP 2024) | RGB-D | 0.629 | 0.581 | 0.658 | 0.646 | 4.645 | |
2024-09-07 | FRTPose (Default Detections) | RGB-D | 0.618 | 0.552 | 0.659 | 0.644 | 0.986 | |
2024-11-18 | Co-op (CNOS, 5 Hypo, RGBD) | RGB-D | 0.613 | 0.570 | 0.639 | 0.629 | 4.709 | |
2024-01-22 | SAM6D | RGB-D | 0.602 | 0.548 | 0.632 | 0.625 | 3.372 | |
2024-11-25 | Co-op (F3DT2D, 1 Hypo, RGBD) (refine iter 1, magsac++ / Intel(R) Core(TM) i9-14900K, RTX4090) | RGB-D | 0.600 | 0.564 | 0.623 | 0.613 | 0.289 | |
2024-07-16 | GZS6D-BP(coarse+refine+teaser) (coarse+refine+teaser) | RGB-D | 0.597 | 0.561 | 0.616 | 0.614 | 3.824 | |
2024-07-30 | FreeZe (SAM6D) | RGB-D | 0.586 | 0.529 | 0.618 | 0.610 | 7.901 | |
2024-07-20 | GZS6D-BP(coarse+refine) | RGB-D | 0.584 | 0.541 | 0.612 | 0.599 | 2.979 | |
2024-11-18 | Co-op (CNOS, 1 Hypo, RGBD) | RGB-D | 0.582 | 0.550 | 0.602 | 0.594 | 1.202 | |
2024-08-27 | FoundationPose(NVIDIA) | RGB-D | 0.580 | 0.513 | 0.621 | 0.607 | 4.010 | |
2023-11-18 | SAM6D | RGB-D | 0.577 | 0.522 | 0.601 | 0.609 | 2.064 | |
2024-01-11 | SAM6D | RGB-D | 0.576 | 0.518 | 0.595 | 0.616 | 3.473 | |
2023-11-30 | GigaPose+GenFlow+kabsch (5 hypothesis) | RGB-D | 0.575 | 0.539 | 0.597 | 0.589 | 6.833 | |
2024-03-04 | SAM6D-FastSAM | RGB-D | 0.572 | 0.519 | 0.597 | 0.602 | 0.640 | |
2024-11-18 | Co-op (CNOS, Coarse, RGBD) | RGB-D | 0.566 | 0.530 | 0.591 | 0.577 | 0.215 | |
2024-03-04 | SAM6D-CNOSfastSAM | RGB-D | 0.562 | 0.506 | 0.591 | 0.589 | 0.554 | |
2024-07-25 | FreeZe (CNOS) | RGB-D | 0.561 | 0.506 | 0.594 | 0.584 | 12.824 | |
2023-09-28 | GenFlow-MultiHypo16 | RGB-D | 0.554 | 0.508 | 0.578 | 0.576 | 18.283 | |
2023-09-25 | GenFlow-MultiHypo | RGB-D | 0.544 | 0.502 | 0.567 | 0.563 | 11.401 | |
2023-09-26 | ZeroPose-Multi-Hypo-Refinement-DefaultSeg | RGB-D | 0.521 | 0.486 | 0.543 | 0.535 | 8.845 | |
2023-09-27 | ZeroPose-Multi-Hypo-Refinement-DefaultSeg | RGB-D | 0.521 | 0.486 | 0.543 | 0.535 | 8.845 | |
2023-09-26 | PoZe-CNOS | RGB-D | 0.516 | 0.450 | 0.557 | 0.542 | 84.854 | |
2024-11-22 | Co-op (F3DT2D, 5 Hypo) (BOP 2024) | RGB | 0.506 | 0.427 | 0.475 | 0.617 | 2.160 | |
2024-11-22 | Co-op (CNOS, 5 Hypo) (BOP 2024) | RGB | 0.491 | 0.419 | 0.460 | 0.594 | 2.284 | |
2024-03-04 | SAM6D-ZeroPose | RGB-D | 0.484 | 0.438 | 0.508 | 0.507 | 4.052 | |
2024-11-22 | Co-op (CNOS, 1 Hypo) (BOP 2024) | RGB | 0.473 | 0.409 | 0.440 | 0.569 | 0.717 | |
2023-09-27 | Megapose-CNOS_fastSAM+Multihyp_Teaserpp-10 | RGB-D | 0.468 | 0.436 | 0.491 | 0.476 | 132.990 | |
2023-09-27 | ZeroPose-Multi-Hypo-Refinement | RGB-D | 0.465 | 0.429 | 0.490 | 0.476 | 11.632 | |
2023-09-27 | Megapose-CNOS_fastSAM+Multihyp_Teaserpp | RGB-D | 0.460 | 0.431 | 0.482 | 0.468 | 118.395 | |
2023-11-18 | SAM6D | RGB-D | 0.455 | 0.394 | 0.490 | 0.479 | 2.733 | |
2023-11-30 | GigaPose+GenFlow (5 hypothesis) | RGB | 0.453 | 0.391 | 0.418 | 0.551 | 6.498 | |
2023-09-22 | GenFlow-MultiHypo | RGB-D | 0.444 | 0.423 | 0.460 | 0.450 | 11.368 | |
2024-11-02 | GigaPose + GenFlow | RGB | 0.413 | 0.373 | 0.371 | 0.495 | 1.291 | |
2023-11-16 | FoundPose+FeatRef+Megapose-5hyp (FoundPose+FeatRef+Megapose-5hyp) | RGB | 0.407 | 0.335 | 0.366 | 0.521 | 49.895 | |
2024-08-04 | GigaPose (Concat) + Megapose (5 hypothesis) (GigaPose (Concat/Edge)) | RGB | 0.400 | 0.344 | 0.365 | 0.491 | 8.989 | |
2023-10-17 | GenFlow-MultiHypo16-RGB | RGB | 0.398 | 0.331 | 0.356 | 0.508 | 21.340 | |
2024-08-04 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Edge)) | RGB | 0.398 | 0.343 | 0.363 | 0.489 | 5.393 | |
2024-02-28 | GigaPose+MegaPose (5 hypothesis) | RGB | 0.397 | 0.343 | 0.364 | 0.485 | 4.309 | |
2023-09-26 | GenFlow-MultiHypo-RGB | RGB | 0.395 | 0.330 | 0.352 | 0.503 | 11.144 | |
2024-08-06 | GigaPose (Concat) + Megapose (5 hypothesis) (GigaPose (Concat/Edge+Harris)) | RGB | 0.394 | 0.340 | 0.359 | 0.483 | 5.107 | |
2024-08-06 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Harris)) | RGB | 0.393 | 0.339 | 0.360 | 0.479 | 4.823 | |
2024-08-05 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Edge+Harris)) | RGB | 0.392 | 0.339 | 0.358 | 0.480 | 5.917 | |
2024-11-20 | OPFormer (CNOS, Megapose Refiner) | RGB | 0.392 | 0.324 | 0.353 | 0.498 | 0.982 | |
2024-09-03 | Co-op (CNOS, Coarse) (coarse only) | RGB | 0.391 | 0.320 | 0.347 | 0.507 | 0.219 | |
2023-11-12 | SMC-1.0s-CNOS | D | 0.389 | 0.356 | 0.411 | 0.401 | 3.471 | |
2025-01-30 | OPFormer (CNOS, Megapose Refiner) (Refined Main) | RGB | 0.385 | 0.320 | 0.354 | 0.481 | 1.190 | |
2024-10-16 | GenFlow | RGB | 0.384 | 0.331 | 0.342 | 0.479 | 5.525 | |
2024-02-28 | GigaPose+MegaPose (1 hypothesis) | RGB | 0.376 | 0.331 | 0.341 | 0.455 | 1.612 | |
2024-11-14 | TF6D (Default, CNOS) + Megapose (5 hypothesis) (TF6D (CNOS) + Megapose (5 hypothesis)) | RGB | 0.375 | 0.320 | 0.332 | 0.472 | 3.228 | |
2023-08-22 | ZeroPose-One-Hypo | RGB-D | 0.362 | 0.325 | 0.387 | 0.374 | 5.767 | |
2023-11-12 | SMC-0.5s-CNOS | D | 0.358 | 0.336 | 0.375 | 0.363 | 1.817 | |
2023-11-15 | FoundPose+FeatRef+Megapose (FoundPose+FeatRef+Megapose) | RGB | 0.357 | 0.291 | 0.317 | 0.462 | 19.756 | |
2025-01-29 | OPFormer (CNOS) (Coarse Main) | RGB | 0.355 | 0.285 | 0.306 | 0.472 | 0.397 | |
2023-09-27 | SAM6D-BOP2023-CNOSmask | RGB-D | 0.351 | 0.328 | 0.368 | 0.357 | 0.010 | |
2023-11-15 | FoundPose+MegaPose (FoundPose+MegaPose) | RGB | 0.346 | 0.280 | 0.306 | 0.452 | 12.039 | |
2023-09-26 | Megapose-CNOS_fastSAM+MultiHyp-10 | RGB | 0.346 | 0.297 | 0.302 | 0.438 | 25.370 | |
2025-05-13 | FoundPose + GoTrack (1 hypothesis) (Pyrender) | RGB | 0.340 | 0.263 | 0.283 | 0.474 | 2.014 | |
2023-09-26 | Megapose-CNOS_fastSAM+MultiHyp | RGB | 0.338 | 0.292 | 0.294 | 0.427 | 21.745 | |
2023-09-04 | MegaPose-CNOS_fastSAM | RGB | 0.315 | 0.278 | 0.271 | 0.395 | 18.904 | |
2024-11-20 | OPFormer (CNOS) | RGB | 0.278 | 0.189 | 0.220 | 0.425 | 0.413 | |
2023-09-21 | GenFlow-MultiHypo-RGB | RGB | 0.274 | 0.242 | 0.231 | 0.350 | 11.104 | |
2023-11-15 | FoundPose+FeatRef (FoundPose+FeatRef) | RGB | 0.262 | 0.173 | 0.187 | 0.425 | 1.919 | |
2024-11-29 | TF6D (Default, CNOS) (TF6D (CNOS)) | RGB | 0.251 | 0.182 | 0.202 | 0.370 | 1.229 | |
2023-11-15 | FoundPose-Coarse (FoundPose-Coarse) | RGB | 0.204 | 0.114 | 0.129 | 0.370 | 1.219 | |
2024-02-28 | GigaPose | RGB | 0.175 | 0.093 | 0.117 | 0.314 | 0.202 | |
2023-09-26 | GenFlow-coarse | RGB | 0.154 | 0.075 | 0.109 | 0.277 | 2.040 | |
2023-09-18 | GenFlow-coarse | RGB | 0.116 | 0.064 | 0.089 | 0.195 | 1.981 | |
2023-11-02 | MegaPose-CNOS_fastSAM+CoarseBest | RGB | 0.108 | 0.054 | 0.063 | 0.208 | 10.203 |
Tip: Hover over the numbers to see more decimal places.