Model-based 6D localization of unseen objects – T-LESS

This leaderbord shows the ranking for Model-based 6D localization of unseen objects on T-LESS. 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 0.617 0.582 0.629 0.641 -1.000
2023-11-30 GigaPose+GenFlow (5 hypothesis) RGB 0.582 0.549 0.560 0.637 11.523
2024-01-27 FoundPose+FeatRef+Megapose-5hyp (FoundPose+FeatRef+Megapose-5hyp) RGB 0.570 0.536 0.549 0.623 7.367
2024-02-28 GigaPose+MegaPose (5 hypothesis) RGB 0.565 0.533 0.543 0.620 6.898
2023-11-30 GigaPose+GenFlow+kabsch RGB-D 0.556 0.520 0.563 0.586 12.122
2024-02-28 GigaPose+MegaPose (1 hypothesis) RGB 0.541 0.517 0.515 0.592 1.863
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
2024-01-22 SAM6D RGB-D 0.515 0.472 0.529 0.544 4.493
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
2023-09-27 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
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
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
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
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.