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 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.