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Tasks on seen objects: 6D localization of seen objects 2D detection of seen objects 2D segmentation of seen objects
Tasks on unseen objects: 6D localization of unseen objects 2D detection of unseen objects 2D segmentation of unseen objects
Datasets: Core datasets LM LM-O T-LESS ITODD HB HOPE YCB-V RU-APC IC-BIN IC-MI TUD-L TYO-L

6D localization of unseen objects – ITODD

This leaderbord shows the ranking for Task 4 on ITODD. The reported time is the average image processing time.

Date (UTC) Submission Test image AR ARVSD ARMSSD ARMSPD Time (s)
2023-11-19 FoundationPose(NVIDIA) RGB-D 0.609 0.543 0.649 0.635 -1.000
2024-01-22 SAM6D RGB-D 0.602 0.548 0.632 0.625 3.372
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 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
2024-03-04 SAM6D-CNOSfastSAM RGB-D 0.562 0.506 0.591 0.589 0.554
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
2024-03-04 SAM6D-ZeroPose RGB-D 0.484 0.438 0.508 0.507 4.052
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
2023-11-16 FoundPose+FeatRef+Megapose-5hyp (FoundPose+FeatRef+Megapose-5hyp) RGB 0.407 0.335 0.366 0.521 49.895
2023-10-17 GenFlow-MultiHypo16-RGB RGB 0.398 0.331 0.356 0.508 21.340
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
2023-11-12 SMC-1.0s-CNOS D 0.389 0.356 0.411 0.401 3.471
2024-02-28 GigaPose+MegaPose (1 hypothesis) RGB 0.376 0.331 0.341 0.455 1.612
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
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
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
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
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.

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