This leaderbord shows the ranking for Model-based 6D localization of unseen objects on TUD-L. The reported time is the average image processing time.
| Date (UTC) | Submission | Test image | AR | ARVSD | ARMSSD | ARMSPD | Time (s) | |
|---|---|---|---|---|---|---|---|---|
| 2024-11-29 | FreeZeV2.1 | RGB-D | 0.976 | 0.940 | 0.993 | 0.996 | 4.534 | |
| 2024-09-18 | FreeZeV2 | RGB-D | 0.972 | 0.932 | 0.991 | 0.993 | 3.688 | |
| 2024-07-30 | FreeZe (SAM6D) | RGB-D | 0.949 | 0.909 | 0.969 | 0.969 | 2.419 | |
| 2024-11-24 | FRTPose.v1 (MUSE) | RGB-D | 0.942 | 0.858 | 0.987 | 0.981 | 32.447 | |
| 2024-11-24 | FRTPose.v1 (Default Detections) | RGB-D | 0.940 | 0.857 | 0.985 | 0.978 | 33.027 | |
| 2024-11-24 | FRTPose.v1 (SAM6D-FastSAM) | RGB-D | 0.940 | 0.858 | 0.983 | 0.978 | 24.596 | |
| 2024-12-09 | FRTPose.v1 (SAM6D-FastSAM, NIDS, CNOS and MUSE) | RGB-D | 0.940 | 0.857 | 0.983 | 0.979 | 44.533 | |
| 2024-11-02 | FRTPose.v1 (SAM6D-FastSAM) | RGB-D | 0.938 | 0.857 | 0.982 | 0.976 | 27.618 | |
| 2024-11-02 | FRTPose.v1 (Default Detections) | RGB-D | 0.938 | 0.857 | 0.982 | 0.976 | 31.950 | |
| 2024-07-25 | FreeZe (CNOS) | RGB-D | 0.936 | 0.904 | 0.951 | 0.953 | 2.564 | |
| 2024-11-25 | Co-op (F3DT2D, 5 Hypo, RGBD) (BOP 2024) | RGB-D | 0.929 | 0.862 | 0.963 | 0.962 | 1.505 | |
| 2024-11-25 | Co-op (F3DT2D, 1 Hypo, RGBD) (refine iter 1, magsac++ / Intel(R) Core(TM) i9-14900K, RTX4090) | RGB-D | 0.929 | 0.859 | 0.964 | 0.963 | 0.325 | |
| 2024-09-04 | FRTPose (SAM6D-FastSAM) | RGB-D | 0.925 | 0.844 | 0.968 | 0.963 | 14.007 | |
| 2023-09-26 | PoZe-CNOS | RGB-D | 0.924 | 0.893 | 0.939 | 0.940 | 43.967 | |
| 2024-08-27 | FoundationPose(NVIDIA) | RGB-D | 0.923 | 0.839 | 0.966 | 0.964 | 17.714 | |
| 2024-09-07 | FRTPose (Default Detections) | RGB-D | 0.922 | 0.842 | 0.965 | 0.960 | 18.539 | |
| 2024-07-16 | GZS6D-BP(coarse+refine+teaser) (coarse+refine+teaser) | RGB-D | 0.922 | 0.855 | 0.942 | 0.969 | 1.378 | |
| 2024-07-20 | GZS6D-BP(coarse+refine) | RGB-D | 0.907 | 0.818 | 0.947 | 0.955 | 1.120 | |
| 2024-11-18 | Co-op (CNOS, 1 Hypo, RGBD) | RGB-D | 0.905 | 0.842 | 0.937 | 0.937 | 0.691 | |
| 2024-11-18 | Co-op (CNOS, 5 Hypo, RGBD) | RGB-D | 0.905 | 0.839 | 0.938 | 0.937 | 1.484 | |
| 2024-01-22 | SAM6D | RGB-D | 0.904 | 0.851 | 0.929 | 0.932 | 3.475 | |
| 2024-01-11 | SAM6D | RGB-D | 0.892 | 0.840 | 0.916 | 0.919 | 3.671 | |
| 2024-11-18 | Co-op (CNOS, Coarse, RGBD) | RGB-D | 0.879 | 0.792 | 0.925 | 0.919 | 0.408 | |
| 2023-11-18 | SAM6D | RGB-D | 0.874 | 0.819 | 0.902 | 0.903 | 1.415 | |
| 2024-09-07 | FRTPose (SAM6D-FastSAM & top k) | RGB-D | 0.871 | 0.797 | 0.910 | 0.905 | 0.748 | |
| 2023-09-28 | GenFlow-MultiHypo16 | RGB-D | 0.862 | 0.793 | 0.896 | 0.897 | 8.222 | |
| 2023-09-27 | Megapose-CNOS_fastSAM+Multihyp_Teaserpp-10 | RGB-D | 0.851 | 0.771 | 0.896 | 0.888 | 35.989 | |
| 2023-09-22 | GenFlow-MultiHypo | RGB-D | 0.849 | 0.782 | 0.883 | 0.883 | 5.145 | |
| 2023-09-25 | GenFlow-MultiHypo | RGB-D | 0.849 | 0.782 | 0.883 | 0.883 | 5.180 | |
| 2023-09-27 | Megapose-CNOS_fastSAM+Multihyp_Teaserpp | RGB-D | 0.846 | 0.766 | 0.891 | 0.882 | 31.367 | |
| 2023-09-26 | ZeroPose-Multi-Hypo-Refinement-DefaultSeg | RGB-D | 0.835 | 0.792 | 0.855 | 0.858 | 12.132 | |
| 2024-03-04 | SAM6D-FastSAM | RGB-D | 0.829 | 0.786 | 0.851 | 0.851 | 0.834 | |
| 2024-03-04 | SAM6D-CNOSfastSAM | RGB-D | 0.825 | 0.784 | 0.846 | 0.847 | 0.735 | |
| 2023-11-30 | GigaPose+GenFlow+kabsch (5 hypothesis) | RGB-D | 0.811 | 0.748 | 0.843 | 0.842 | 2.318 | |
| 2024-03-04 | SAM6D-ZeroPose | RGB-D | 0.802 | 0.758 | 0.823 | 0.824 | 4.644 | |
| 2023-09-28 | SAM6D-BOP2023-CNOSmask | RGB-D | 0.794 | 0.726 | 0.833 | 0.824 | 2.530 | |
| 2023-09-26 | ZeroPose-Multi-Hypo-Refinement | RGB-D | 0.790 | 0.748 | 0.812 | 0.811 | 14.898 | |
| 2024-11-22 | Co-op (F3DT2D, 5 Hypo) (BOP 2024) | RGB | 0.767 | 0.634 | 0.754 | 0.913 | 1.087 | |
| 2024-11-22 | Co-op (CNOS, 5 Hypo) (BOP 2024) | RGB | 0.729 | 0.603 | 0.715 | 0.870 | 1.096 | |
| 2024-11-22 | Co-op (CNOS, 1 Hypo) (BOP 2024) | RGB | 0.717 | 0.593 | 0.702 | 0.857 | 0.612 | |
| 2025-01-29 | OPFormer-Coarse (CNOS) (Coarse Main) | RGB | 0.712 | 0.577 | 0.695 | 0.863 | 0.207 | |
| 2025-01-29 | OPFormer-Megapose refinement (CNOS) (Refined Main) | RGB | 0.704 | 0.568 | 0.679 | 0.866 | 0.425 | |
| 2024-01-26 | FoundPose+FeatRef+Megapose-5hyp (FoundPose+FeatRef+Megapose-5hyp) | RGB | 0.693 | 0.561 | 0.661 | 0.859 | 4.040 | |
| 2024-11-20 | OPFormer-Megapose refinement (CNOS) | RGB | 0.693 | 0.556 | 0.671 | 0.852 | 0.501 | |
| 2023-10-17 | GenFlow-MultiHypo16-RGB | RGB | 0.688 | 0.568 | 0.662 | 0.835 | 9.607 | |
| 2023-09-26 | Megapose-CNOS_fastSAM+MultiHyp-10 | RGB | 0.687 | 0.552 | 0.659 | 0.850 | 16.877 | |
| 2023-09-21 | GenFlow-MultiHypo-RGB | RGB | 0.684 | 0.561 | 0.657 | 0.834 | 5.010 | |
| 2023-09-26 | GenFlow-MultiHypo-RGB | RGB | 0.684 | 0.561 | 0.657 | 0.834 | 4.993 | |
| 2023-09-26 | Megapose-CNOS_fastSAM+MultiHyp | RGB | 0.684 | 0.548 | 0.656 | 0.847 | 14.991 | |
| 2024-10-16 | GenFlow | RGB | 0.670 | 0.558 | 0.650 | 0.803 | 2.525 | |
| 2024-11-29 | TF6D (Default, CNOS) + Megapose (5 hypothesis) (TF6D (CNOS) + Megapose (5 hypothesis)) | RGB | 0.669 | 0.536 | 0.642 | 0.828 | 1.970 | |
| 2023-11-30 | GigaPose+GenFlow (5 hypothesis) | RGB | 0.664 | 0.557 | 0.641 | 0.794 | 2.201 | |
| 2024-08-04 | GigaPose (Concat) + Megapose (5 hypothesis) (GigaPose (Concat/Edge)) | RGB | 0.654 | 0.531 | 0.630 | 0.802 | 1.928 | |
| 2023-09-04 | MegaPose-CNOS_fastSAM | RGB | 0.653 | 0.529 | 0.622 | 0.808 | 9.010 | |
| 2024-08-04 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Edge)) | RGB | 0.648 | 0.524 | 0.621 | 0.798 | 2.182 | |
| 2024-09-03 | Co-op (CNOS, Coarse) (coarse only) | RGB | 0.642 | 0.497 | 0.623 | 0.804 | 0.416 | |
| 2024-08-06 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Edge+Harris)) | RGB | 0.637 | 0.514 | 0.609 | 0.787 | 2.318 | |
| 2024-08-06 | GigaPose (Concat) + Megapose (5 hypothesis) (GigaPose (Concat/Edge+Harris)) | RGB | 0.635 | 0.514 | 0.608 | 0.783 | 1.941 | |
| 2024-01-29 | FoundPose+MegaPose (FoundPose+MegaPose) | RGB | 0.633 | 0.513 | 0.603 | 0.784 | 0.821 | |
| 2024-01-29 | FoundPose+FeatRef+Megapose (FoundPose+FeatRef+Megapose) | RGB | 0.633 | 0.513 | 0.601 | 0.786 | 0.943 | |
| 2024-02-28 | GigaPose+MegaPose (5 hypothesis) | RGB | 0.631 | 0.508 | 0.606 | 0.779 | 1.378 | |
| 2024-08-06 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Harris)) | RGB | 0.622 | 0.502 | 0.595 | 0.770 | 1.400 | |
| 2024-11-20 | OPFormer-Coarse (CNOS) | RGB | 0.615 | 0.458 | 0.584 | 0.803 | 0.285 | |
| 2024-11-02 | GigaPose+GenFlow (1 hypothesis) | RGB | 0.607 | 0.515 | 0.582 | 0.724 | 0.526 | |
| 2023-11-12 | SMC-1.0s-CNOS | D | 0.599 | 0.575 | 0.611 | 0.610 | 1.105 | |
| 2024-02-28 | GigaPose+MegaPose (1 hypothesis) | RGB | 0.580 | 0.474 | 0.547 | 0.719 | 0.527 | |
| 2024-01-29 | FoundPose+FeatRef (FoundPose+FeatRef) | RGB | 0.567 | 0.431 | 0.531 | 0.739 | 0.679 | |
| 2023-08-22 | ZeroPose-One-Hypo | RGB-D | 0.536 | 0.456 | 0.583 | 0.568 | 6.740 | |
| 2023-11-12 | SMC-0.5s-CNOS | D | 0.511 | 0.491 | 0.521 | 0.521 | 0.552 | |
| 2024-11-29 | TF6D (Default, CNOS) (TF6D (CNOS)) | RGB | 0.473 | 0.347 | 0.450 | 0.620 | 1.671 | |
| 2024-01-28 | FoundPose-Coarse (FoundPose-Coarse) | RGB | 0.469 | 0.313 | 0.425 | 0.670 | 0.472 | |
| 2023-09-18 | GenFlow-coarse | RGB | 0.300 | 0.125 | 0.298 | 0.477 | 1.005 | |
| 2023-09-26 | GenFlow-coarse | RGB | 0.300 | 0.125 | 0.298 | 0.477 | 1.013 | |
| 2024-02-28 | GigaPose | RGB | 0.300 | 0.152 | 0.231 | 0.517 | 0.215 | |
| 2023-11-02 | MegaPose-CNOS_fastSAM+CoarseBest | RGB | 0.258 | 0.098 | 0.246 | 0.429 | 2.858 |
Tip: Hover over the numbers to see more decimal places.