This leaderbord shows the ranking for Model-based 6D localization of unseen objects on LM-O. 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) | |
|---|---|---|---|---|---|---|---|---|
| 2024-12-09 | FRTPose.v1 (SAM6D-FastSAM, NIDS, CNOS and MUSE) | RGB-D | 0.795 | 0.657 | 0.844 | 0.883 | 75.289 | |
| 2024-11-24 | FRTPose.v1 (MUSE) | RGB-D | 0.786 | 0.650 | 0.835 | 0.872 | 43.066 | |
| 2024-09-07 | FRTPose (Default Detections) | RGB-D | 0.783 | 0.647 | 0.832 | 0.869 | 46.221 | |
| 2024-09-04 | FRTPose (SAM6D-FastSAM) | RGB-D | 0.783 | 0.647 | 0.832 | 0.869 | 40.255 | |
| 2024-11-02 | FRTPose.v1 (SAM6D-FastSAM) | RGB-D | 0.778 | 0.643 | 0.827 | 0.864 | 68.329 | |
| 2024-11-24 | FRTPose.v1 (Default Detections) | RGB-D | 0.777 | 0.643 | 0.826 | 0.863 | 77.497 | |
| 2024-11-02 | FRTPose.v1 (Default Detections) | RGB-D | 0.777 | 0.643 | 0.826 | 0.863 | 78.145 | |
| 2024-11-24 | FRTPose.v1 (SAM6D-FastSAM) | RGB-D | 0.777 | 0.642 | 0.825 | 0.863 | 68.351 | |
| 2024-11-29 | FreeZeV2.1 | RGB-D | 0.771 | 0.623 | 0.829 | 0.861 | 29.805 | |
| 2024-09-18 | FreeZeV2 | RGB-D | 0.764 | 0.619 | 0.821 | 0.853 | 20.043 | |
| 2024-08-27 | FoundationPose(NVIDIA) | RGB-D | 0.756 | 0.623 | 0.805 | 0.841 | 96.993 | |
| 2024-11-25 | Co-op (F3DT2D, 5 Hypo, RGBD) (BOP 2024) | RGB-D | 0.738 | 0.607 | 0.786 | 0.820 | 8.977 | |
| 2024-11-25 | Co-op (F3DT2D, 1 Hypo, RGBD) (refine iter 1, magsac++ / Intel(R) Core(TM) i9-14900K, RTX4090) | RGB-D | 0.730 | 0.608 | 0.773 | 0.808 | 1.425 | |
| 2024-11-18 | Co-op (CNOS, 5 Hypo, RGBD) | RGB-D | 0.730 | 0.599 | 0.777 | 0.812 | 9.430 | |
| 2024-07-30 | FreeZe (SAM6D) | RGB-D | 0.716 | 0.585 | 0.767 | 0.797 | 15.036 | |
| 2024-11-18 | Co-op (CNOS, 1 Hypo, RGBD) | RGB-D | 0.715 | 0.596 | 0.757 | 0.791 | 3.831 | |
| 2024-09-07 | FRTPose (SAM6D-FastSAM & top k) | RGB-D | 0.703 | 0.584 | 0.747 | 0.778 | 0.698 | |
| 2024-11-18 | Co-op (CNOS, Coarse, RGBD) | RGB-D | 0.700 | 0.583 | 0.741 | 0.775 | 2.307 | |
| 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 | |
| 2024-07-25 | FreeZe (CNOS) | RGB-D | 0.689 | 0.562 | 0.739 | 0.768 | 14.024 | |
| 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 (5 hypothesis) | RGB-D | 0.678 | 0.553 | 0.723 | 0.758 | 15.345 | |
| 2024-11-22 | Co-op (F3DT2D, 5 Hypo) (BOP 2024) | RGB | 0.675 | 0.533 | 0.685 | 0.806 | 5.679 | |
| 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 | |
| 2024-11-22 | Co-op (CNOS, 5 Hypo) (BOP 2024) | RGB | 0.655 | 0.516 | 0.666 | 0.782 | 6.208 | |
| 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 | |
| 2023-09-26 | PoZe-CNOS | RGB-D | 0.644 | 0.530 | 0.687 | 0.714 | 195.085 | |
| 2024-11-22 | Co-op (CNOS, 1 Hypo) (BOP 2024) | RGB | 0.642 | 0.510 | 0.652 | 0.764 | 3.182 | |
| 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 | |
| 2024-08-04 | GigaPose (Concat) + Megapose (5 hypothesis) (GigaPose (Concat/Edge)) | RGB | 0.606 | 0.470 | 0.602 | 0.746 | 10.078 | |
| 2024-08-04 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Edge)) | RGB | 0.604 | 0.468 | 0.600 | 0.743 | 14.830 | |
| 2025-01-29 | OPFormer-Megapose refinement (CNOS) (Refined Main) | RGB | 0.600 | 0.470 | 0.604 | 0.727 | 2.069 | |
| 2024-08-04 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Edge+Harris)) | RGB | 0.599 | 0.466 | 0.594 | 0.737 | 14.066 | |
| 2024-02-28 | GigaPose+MegaPose (5 hypothesis) | RGB | 0.598 | 0.467 | 0.593 | 0.736 | 8.409 | |
| 2024-09-03 | Co-op (CNOS, Coarse) (coarse only) | RGB | 0.597 | 0.463 | 0.587 | 0.739 | 2.313 | |
| 2024-08-06 | GigaPose (Concat) + Megapose (5 hypothesis) (GigaPose (Concat/Edge+Harris)) | RGB | 0.596 | 0.463 | 0.591 | 0.734 | 11.856 | |
| 2024-11-20 | OPFormer-Megapose refinement (CNOS) | RGB | 0.596 | 0.468 | 0.599 | 0.721 | 1.704 | |
| 2024-11-02 | GigaPose + GenFlow | RGB | 0.595 | 0.479 | 0.596 | 0.711 | 2.883 | |
| 2024-08-06 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Harris)) | RGB | 0.590 | 0.460 | 0.584 | 0.727 | 7.201 | |
| 2023-10-17 | GenFlow-MultiHypo16-RGB | RGB | 0.572 | 0.452 | 0.573 | 0.689 | 61.747 | |
| 2025-01-29 | OPFormer-Coarse (CNOS) (Coarse Main) | RGB | 0.570 | 0.430 | 0.554 | 0.724 | 0.654 | |
| 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 | |
| 2024-11-29 | TF6D (Default, CNOS) + Megapose (5 hypothesis) (TF6D (CNOS) + Megapose (5 hypothesis)) | RGB | 0.560 | 0.445 | 0.551 | 0.684 | 7.237 | |
| 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 | |
| 2024-10-16 | GenFlow | RGB | 0.547 | 0.435 | 0.553 | 0.654 | 15.521 | |
| 2023-09-26 | ZeroPose-Multi-Hypo-Refinement-DefaultSeg | RGB-D | 0.538 | 0.458 | 0.563 | 0.593 | 29.465 | |
| 2024-11-20 | OPFormer-Coarse (CNOS) | RGB | 0.525 | 0.379 | 0.499 | 0.697 | 0.492 | |
| 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 | |
| 2024-11-29 | TF6D (Default, CNOS) (TF6D (CNOS)) | RGB | 0.323 | 0.213 | 0.265 | 0.490 | 1.545 | |
| 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.