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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 – LM-O

This leaderbord shows the ranking for Task 4 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 RGB-D 0.733 0.607 0.779 0.813 -1.000
2023-11-18 SAM6D RGB-D 0.687 0.569 0.730 0.763 3.217
2023-11-17 PoMZ RGB-D 0.684 0.557 0.734 0.762 -1.000
2023-11-30 GigaPose+GenFlow+kabsch RGB-D 0.678 0.553 0.723 0.758 15.345
2023-09-27 SAM6D-BOP2023-CNOSmask RGB-D 0.648 0.539 0.688 0.716 6.430
2023-09-28 GenFlow-MultiHypo16 RGB-D 0.635 0.524 0.674 0.705 52.093
2023-11-30 GigaPose+GenFlow 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
2023-11-27 GigaPose+MegaPose's refinement (GigaPose+MegaPose's refinement) RGB 0.599 0.467 0.594 0.736 11.747
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
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
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.

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