HOME CHALLENGES DATASETS TASKS LEADERBOARDS SUBMIT RESULTS Sign in
BOP-Classic: Average on BOP-Classic-Core |   ITODD LM-O YCB-V T-LESS HB IC-BIN TUD-L |   HOPE LM RU-APC IC-MI TYO-L
BOP-H3: Average on BOP-H3 |   HOT3D HANDAL HOPEv2
BOP-Industrial: Average on BOP-Industrial |   IPD XYZ-IBD ITODD-MV
Available tasks:
Model-based tasks on unseen objects: 6D localization 6D detection 2D detection 2D segmentation
Model-based tasks on seen objects: 6D localization 6D detection 2D detection 2D segmentation

Model-based 6D localization of unseen objects – ITODD

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.

Latest submissions to this leaderboard: