Model-based 6D localization of unseen objects – LM-O

This leaderbord shows the ranking for Model-based 6D localization of unseen objects on LM-O. 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 0.733 0.607 0.779 0.813 -1.000
2024-01-22 SAM6D RGB-D 0.699 0.576 0.745 0.776 5.919
2024-01-11 SAM6D RGB-D 0.697 0.577 0.741 0.773 5.967
2023-11-18 SAM6D RGB-D 0.687 0.569 0.730 0.763 3.217
2024-07-16 GZS6D-BP(coarse+refine+teaser) (coarse+refine+teaser) RGB-D 0.678 0.566 0.707 0.761 9.423
2023-11-30 GigaPose+GenFlow+kabsch RGB-D 0.678 0.553 0.723 0.758 15.345
2024-07-20 GZS6D-BP(coarse+refine) RGB-D 0.671 0.556 0.702 0.756 8.222
2024-03-04 SAM6D-FastSAM RGB-D 0.667 0.548 0.712 0.742 2.345
2024-03-04 SAM6D-CNOSfastSAM RGB-D 0.651 0.537 0.694 0.723 2.054
2023-09-27 SAM6D-BOP2023-CNOSmask RGB-D 0.648 0.539 0.688 0.716 6.430
2024-03-04 SAM6D-ZeroPose RGB-D 0.635 0.521 0.677 0.706 7.805
2023-09-28 GenFlow-MultiHypo16 RGB-D 0.635 0.524 0.674 0.705 52.093
2023-11-30 GigaPose+GenFlow (5 hypothesis) RGB 0.631 0.501 0.639 0.753 14.745
2023-09-27 Megapose-CNOS_fastSAM+Multihyp_Teaserpp-10 RGB-D 0.626 0.514 0.666 0.698 244.331
2023-09-25 GenFlow-MultiHypo RGB-D 0.622 0.515 0.660 0.691 32.749
2023-09-22 GenFlow-MultiHypo RGB-D 0.621 0.514 0.658 0.689 32.599
2023-09-27 Megapose-CNOS_fastSAM+Multihyp_Teaserpp RGB-D 0.620 0.510 0.659 0.692 194.409
2024-01-27 FoundPose+FeatRef+Megapose-5hyp (FoundPose+FeatRef+Megapose-5hyp) RGB 0.610 0.472 0.606 0.751 12.300
2024-02-28 GigaPose+MegaPose (5 hypothesis) RGB 0.598 0.467 0.593 0.736 8.409
2023-10-17 GenFlow-MultiHypo16-RGB RGB 0.572 0.452 0.573 0.689 61.747
2023-09-26 GenFlow-MultiHypo-RGB RGB 0.563 0.446 0.565 0.679 31.822
2023-09-21 GenFlow-MultiHypo-RGB RGB 0.561 0.443 0.563 0.677 31.655
2023-09-26 Megapose-CNOS_fastSAM+MultiHyp-10 RGB 0.560 0.432 0.555 0.693 102.342
2023-09-26 Megapose-CNOS_fastSAM+MultiHyp RGB 0.560 0.435 0.556 0.688 90.721
2023-11-12 SMC-1.0s-CNOS D 0.558 0.469 0.591 0.615 7.948
2024-02-28 GigaPose+MegaPose (1 hypothesis) RGB 0.557 0.444 0.546 0.680 2.254
2024-01-27 FoundPose+FeatRef+Megapose (FoundPose+FeatRef+Megapose) RGB 0.556 0.437 0.553 0.679 3.306
2024-01-28 FoundPose+MegaPose (FoundPose+MegaPose) RGB 0.554 0.435 0.551 0.677 2.429
2023-09-26 ZeroPose-Multi-Hypo-Refinement-DefaultSeg RGB-D 0.538 0.458 0.563 0.593 29.465
2023-11-12 SMC-0.5s-CNOS D 0.512 0.436 0.537 0.563 3.983
2023-09-04 MegaPose-CNOS_fastSAM RGB 0.499 0.397 0.494 0.607 39.737
2023-09-26 ZeroPose-Multi-Hypo-Refinement RGB-D 0.493 0.423 0.518 0.536 32.250
2024-01-27 FoundPose-Coarse (FoundPose-Coarse) RGB 0.397 0.250 0.333 0.607 2.166
2024-01-29 FoundPose+FeatRef (FoundPose+FeatRef) RGB 0.395 0.238 0.307 0.640 3.360
2024-02-28 GigaPose RGB 0.296 0.163 0.214 0.510 0.640
2023-08-22 ZeroPose-One-Hypo RGB-D 0.272 0.227 0.284 0.305 18.535
2023-09-18 GenFlow-coarse RGB 0.250 0.105 0.188 0.457 5.722
2023-09-26 GenFlow-coarse RGB 0.248 0.103 0.186 0.454 5.954
2023-11-02 MegaPose-CNOS_fastSAM+CoarseBest RGB 0.229 0.101 0.168 0.418 19.553

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