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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 – TUD-L

This leaderbord shows the ranking for Task 4 on TUD-L. 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 0.906 0.829 0.946 0.942 -1.000
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
2023-11-18 SAM6D RGB-D 0.874 0.819 0.902 0.903 1.415
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 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
2024-01-26 FoundPose+FeatRef+Megapose-5hyp (FoundPose+FeatRef+Megapose-5hyp) RGB 0.693 0.561 0.661 0.859 4.040
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
2023-11-30 GigaPose+GenFlow (5 hypothesis) RGB 0.664 0.557 0.641 0.794 2.201
2023-09-04 MegaPose-CNOS_fastSAM RGB 0.653 0.529 0.622 0.808 9.010
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
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
2024-01-28 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.

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