This leaderbord shows the ranking for Model-based 6D localization of unseen objects on T-LESS. 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) | |
|---|---|---|---|---|---|---|---|---|
| 2025-05-26 | FRTPose-WAPR（Multi 2D Detections） | RGB-D | 0.826 | 0.774 | 0.842 | 0.862 | 269.366 | |
| 2025-05-26 | FRTPose-WAPR（Default Detection） | RGB-D | 0.826 | 0.774 | 0.842 | 0.862 | 326.236 | |
| 2025-05-31 | FreeZeV2.2 | RGB-D | 0.799 | 0.754 | 0.810 | 0.832 | 18.344 | |
| 2024-11-24 | FRTPose.v1 (MUSE) | RGB-D | 0.768 | 0.727 | 0.779 | 0.799 | 27.866 | |
| 2024-12-09 | FRTPose.v1 (SAM6D-FastSAM, NIDS, CNOS and MUSE) | RGB-D | 0.768 | 0.726 | 0.778 | 0.798 | 53.285 | |
| 2024-11-24 | FRTPose.v1 (SAM6D-FastSAM) | RGB-D | 0.766 | 0.725 | 0.776 | 0.795 | 50.286 | |
| 2024-11-02 | FRTPose.v1 (SAM6D-FastSAM) | RGB-D | 0.764 | 0.724 | 0.775 | 0.794 | 51.222 | |
| 2024-11-24 | FRTPose.v1 (Default Detections) | RGB-D | 0.763 | 0.723 | 0.774 | 0.793 | 64.008 | |
| 2024-11-02 | FRTPose.v1 (Default Detections) | RGB-D | 0.760 | 0.721 | 0.770 | 0.789 | 65.337 | |
| 2024-11-29 | FreeZeV2.1 | RGB-D | 0.755 | 0.708 | 0.768 | 0.788 | 20.936 | |
| 2024-09-04 | FRTPose (SAM6D-FastSAM) | RGB-D | 0.717 | 0.679 | 0.727 | 0.744 | 27.342 | |
| 2024-09-07 | FRTPose (Default Detections) | RGB-D | 0.714 | 0.676 | 0.724 | 0.741 | 33.717 | |
| 2025-05-22 | FRTPose-WAPR（MUSE） | RGB-D | 0.709 | 0.667 | 0.722 | 0.739 | 1.100 | |
| 2024-09-17 | FreeZeV2 | RGB-D | 0.708 | 0.665 | 0.720 | 0.739 | 21.179 | |
| 2024-11-25 | Co-op (F3DT2D, 5 Hypo, RGBD) (BOP 2024) | RGB-D | 0.695 | 0.658 | 0.702 | 0.724 | 7.084 | |
| 2024-09-14 | GZS6D-BP(coarse+refine+teaser) | RGB-D | 0.694 | 0.611 | 0.674 | 0.797 | 7.841 | |
| 2024-11-22 | Co-op (F3DT2D, 5 Hypo) (BOP 2024) | RGB | 0.682 | 0.640 | 0.658 | 0.748 | 4.093 | |
| 2024-11-25 | Co-op (F3DT2D, 1 Hypo, RGBD) (refine iter 1, magsac++ / Intel(R) Core(TM) i9-14900K, RTX4090) | RGB-D | 0.680 | 0.642 | 0.688 | 0.709 | 0.756 | |
| 2024-11-18 | Co-op (CNOS, 5 Hypo, RGBD) | RGB-D | 0.664 | 0.629 | 0.671 | 0.691 | 7.256 | |
| 2024-11-22 | Co-op (CNOS, 5 Hypo) (BOP 2024) | RGB | 0.648 | 0.608 | 0.625 | 0.710 | 4.358 | |
| 2024-11-18 | Co-op (CNOS, 1 Hypo, RGBD) | RGB-D | 0.646 | 0.611 | 0.653 | 0.675 | 2.404 | |
| 2024-08-27 | FoundationPose(NVIDIA) | RGB-D | 0.646 | 0.603 | 0.661 | 0.674 | 15.197 | |
| 2024-11-18 | Co-op (CNOS, Coarse, RGBD) | RGB-D | 0.642 | 0.603 | 0.653 | 0.671 | 1.068 | |
| 2024-11-22 | Co-op (CNOS, 1 Hypo) (BOP 2024) | RGB | 0.635 | 0.596 | 0.612 | 0.696 | 1.838 | |
| 2024-09-03 | Co-op (CNOS, Coarse) (coarse only) | RGB | 0.592 | 0.532 | 0.561 | 0.682 | 1.072 | |
| 2024-11-29 | TF6D (Default, CNOS) + Megapose (5 hypothesis) (TF6D (CNOS) + Megapose (5 hypothesis)) | RGB | 0.590 | 0.554 | 0.563 | 0.653 | 3.401 | |
| 2023-11-30 | GigaPose+GenFlow (5 hypothesis) | RGB | 0.582 | 0.549 | 0.560 | 0.637 | 11.523 | |
| 2024-09-07 | FRTPose (SAM6D-FastSAM & top k) | RGB-D | 0.581 | 0.548 | 0.589 | 0.606 | 0.696 | |
| 2024-08-04 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Edge)) | RGB | 0.576 | 0.542 | 0.553 | 0.633 | 13.383 | |
| 2024-08-05 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Edge+Harris)) | RGB | 0.574 | 0.541 | 0.551 | 0.631 | 10.792 | |
| 2024-01-27 | FoundPose+FeatRef+Megapose-5hyp (FoundPose+FeatRef+Megapose-5hyp) | RGB | 0.570 | 0.536 | 0.549 | 0.623 | 7.367 | |
| 2024-08-06 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Harris)) | RGB | 0.566 | 0.534 | 0.543 | 0.621 | 6.677 | |
| 2024-02-28 | GigaPose+MegaPose (5 hypothesis) | RGB | 0.565 | 0.533 | 0.543 | 0.620 | 6.898 | |
| 2023-11-30 | GigaPose+GenFlow+kabsch (5 hypothesis) | RGB-D | 0.556 | 0.520 | 0.563 | 0.586 | 12.122 | |
| 2024-11-02 | GigaPose + GenFlow | RGB | 0.550 | 0.526 | 0.523 | 0.601 | 2.391 | |
| 2024-02-28 | GigaPose+MegaPose (1 hypothesis) | RGB | 0.541 | 0.517 | 0.515 | 0.592 | 1.863 | |
| 2025-01-30 | OPFormer-Megapose refinement (CNOS) (Refined Main) | RGB | 0.534 | 0.503 | 0.514 | 0.586 | 1.843 | |
| 2024-11-20 | OPFormer-Megapose refinement (CNOS) | RGB | 0.534 | 0.505 | 0.512 | 0.584 | 1.880 | |
| 2024-07-30 | FreeZe (SAM6D) | RGB-D | 0.531 | 0.472 | 0.553 | 0.569 | 9.407 | |
| 2023-10-18 | GenFlow-MultiHypo16-RGB | RGB | 0.528 | 0.497 | 0.509 | 0.579 | 38.574 | |
| 2023-09-26 | GenFlow-MultiHypo-RGB | RGB | 0.523 | 0.493 | 0.504 | 0.573 | 19.986 | |
| 2023-09-28 | GenFlow-MultiHypo16 | RGB-D | 0.521 | 0.486 | 0.528 | 0.548 | 33.321 | |
| 2024-07-25 | FreeZe (CNOS) | RGB-D | 0.520 | 0.460 | 0.544 | 0.557 | 10.454 | |
| 2024-01-22 | SAM6D | RGB-D | 0.515 | 0.472 | 0.529 | 0.544 | 4.493 | |
| 2024-10-16 | GenFlow | RGB | 0.514 | 0.486 | 0.493 | 0.563 | 10.019 | |
| 2023-09-21 | GenFlow-MultiHypo-RGB | RGB | 0.514 | 0.482 | 0.491 | 0.568 | 19.959 | |
| 2024-01-29 | FoundPose+FeatRef+Megapose (FoundPose+FeatRef+Megapose) | RGB | 0.511 | 0.485 | 0.491 | 0.556 | 2.521 | |
| 2024-01-29 | FoundPose+MegaPose (FoundPose+MegaPose) | RGB | 0.510 | 0.484 | 0.491 | 0.556 | 1.981 | |
| 2023-09-25 | GenFlow-MultiHypo | RGB-D | 0.509 | 0.476 | 0.515 | 0.536 | 20.728 | |
| 2023-09-26 | Megapose-CNOS_fastSAM+MultiHyp-10 | RGB | 0.508 | 0.481 | 0.485 | 0.559 | 55.804 | |
| 2024-01-11 | SAM6D | RGB-D | 0.507 | 0.464 | 0.521 | 0.535 | 4.633 | |
| 2023-09-26 | Megapose-CNOS_fastSAM+MultiHyp | RGB | 0.507 | 0.480 | 0.484 | 0.556 | 48.871 | |
| 2023-09-22 | GenFlow-MultiHypo | RGB-D | 0.503 | 0.470 | 0.508 | 0.529 | 20.715 | |
| 2023-11-18 | SAM6D | RGB-D | 0.498 | 0.454 | 0.512 | 0.527 | 1.781 | |
| 2023-09-26 | PoZe-CNOS | RGB-D | 0.494 | 0.442 | 0.515 | 0.523 | 209.740 | |
| 2023-09-27 | Megapose-CNOS_fastSAM+Multihyp_Teaserpp-10 | RGB-D | 0.487 | 0.458 | 0.487 | 0.516 | 137.972 | |
| 2024-03-04 | SAM6D-FastSAM | RGB-D | 0.485 | 0.446 | 0.499 | 0.511 | 1.813 | |
| 2025-05-13 | FoundPose + GoTrack (1 hypothesis) (Pyrender) | RGB | 0.485 | 0.437 | 0.453 | 0.566 | 2.327 | |
| 2023-09-27 | Megapose-CNOS_fastSAM+Multihyp_Teaserpp | RGB-D | 0.485 | 0.458 | 0.484 | 0.513 | 126.007 | |
| 2023-09-28 | SAM6D-BOP2023-CNOSmask | RGB-D | 0.483 | 0.440 | 0.500 | 0.509 | 5.472 | |
| 2024-03-04 | SAM6D-CNOSfastSAM | RGB-D | 0.479 | 0.439 | 0.493 | 0.505 | 1.607 | |
| 2023-09-04 | MegaPose-CNOS_fastSAM | RGB | 0.477 | 0.458 | 0.453 | 0.521 | 33.426 | |
| 2025-01-29 | OPFormer-Coarse (CNOS) (Coarse Main) | RGB | 0.446 | 0.382 | 0.398 | 0.556 | 0.665 | |
| 2024-03-04 | SAM6D-ZeroPose | RGB-D | 0.430 | 0.391 | 0.444 | 0.456 | 6.241 | |
| 2023-11-12 | SMC-1.0s-CNOS | D | 0.423 | 0.390 | 0.437 | 0.443 | 6.851 | |
| 2023-11-18 | SAM6D | RGB-D | 0.420 | 0.380 | 0.430 | 0.450 | 2.481 | |
| 2024-11-20 | OPFormer-Coarse (CNOS) | RGB | 0.418 | 0.349 | 0.374 | 0.531 | 0.492 | |
| 2023-11-12 | SMC-0.5s-CNOS | D | 0.415 | 0.383 | 0.428 | 0.435 | 3.416 | |
| 2023-09-27 | ZeroPose-Multi-Hypo-Refinement-DefaultSeg | RGB-D | 0.400 | 0.365 | 0.415 | 0.419 | 16.313 | |
| 2024-01-29 | FoundPose+FeatRef (FoundPose+FeatRef) | RGB | 0.396 | 0.319 | 0.341 | 0.529 | 2.328 | |
| 2024-11-29 | TF6D (Default, CNOS) (TF6D (CNOS)) | RGB | 0.350 | 0.268 | 0.287 | 0.493 | 1.655 | |
| 2023-09-27 | ZeroPose-Multi-Hypo-Refinement | RGB-D | 0.342 | 0.306 | 0.359 | 0.361 | 19.106 | |
| 2024-01-28 | FoundPose-Coarse (FoundPose-Coarse) | RGB | 0.338 | 0.248 | 0.277 | 0.489 | 1.515 | |
| 2024-02-28 | GigaPose | RGB | 0.264 | 0.142 | 0.170 | 0.479 | 0.503 | |
| 2023-09-26 | GenFlow-coarse | RGB | 0.215 | 0.115 | 0.158 | 0.373 | 3.775 | |
| 2023-09-18 | GenFlow-coarse | RGB | 0.209 | 0.111 | 0.151 | 0.364 | 3.677 | |
| 2023-11-02 | MegaPose-CNOS_fastSAM+CoarseBest | RGB | 0.177 | 0.097 | 0.119 | 0.314 | 15.058 | |
| 2023-08-22 | ZeroPose-One-Hypo | RGB-D | 0.156 | 0.157 | 0.148 | 0.162 | 9.157 |
Tip: Hover over the numbers to see more decimal places.