This leaderbord shows the ranking for Model-based 6D localization of unseen objects on YCB-V. 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 | 0.915 | 0.888 | 0.948 | 0.908 | 26.760 | |
| 2024-09-07 | FRTPose (Default Detections) | RGB-D | 0.913 | 0.879 | 0.957 | 0.904 | 21.312 | |
| 2024-09-04 | FRTPose (SAM6D-FastSAM) | RGB-D | 0.913 | 0.879 | 0.956 | 0.903 | 19.986 | |
| 2024-11-02 | FRTPose.v1 (SAM6D-FastSAM) | RGB-D | 0.910 | 0.878 | 0.954 | 0.899 | 26.955 | |
| 2024-11-24 | FRTPose.v1 (SAM6D-FastSAM) | RGB-D | 0.910 | 0.878 | 0.953 | 0.899 | 26.448 | |
| 2024-11-24 | FRTPose.v1 (MUSE) | RGB-D | 0.910 | 0.878 | 0.952 | 0.898 | 15.003 | |
| 2024-11-02 | FRTPose.v1 (Default Detections) | RGB-D | 0.910 | 0.878 | 0.953 | 0.898 | 29.481 | |
| 2024-11-24 | FRTPose.v1 (Default Detections) | RGB-D | 0.908 | 0.877 | 0.952 | 0.897 | 28.902 | |
| 2024-09-17 | FreeZeV2 | RGB-D | 0.906 | 0.882 | 0.936 | 0.900 | 14.340 | |
| 2024-11-25 | Co-op (F3DT2D, 5 Hypo, RGBD) (BOP 2024) | RGB-D | 0.898 | 0.865 | 0.944 | 0.884 | 5.714 | |
| 2024-08-27 | FoundationPose(NVIDIA) | RGB-D | 0.889 | 0.856 | 0.931 | 0.880 | 9.942 | |
| 2024-11-18 | Co-op (CNOS, 5 Hypo, RGBD) | RGB-D | 0.887 | 0.856 | 0.932 | 0.873 | 5.801 | |
| 2024-11-25 | Co-op (F3DT2D, 1 Hypo, RGBD) (refine iter 1, magsac++ / Intel(R) Core(TM) i9-14900K, RTX4090) | RGB-D | 0.886 | 0.857 | 0.930 | 0.872 | 0.488 | |
| 2024-11-18 | Co-op (CNOS, 1 Hypo, RGBD) | RGB-D | 0.874 | 0.849 | 0.916 | 0.856 | 1.634 | |
| 2024-09-07 | FRTPose (SAM6D-FastSAM & top k) | RGB-D | 0.869 | 0.841 | 0.907 | 0.859 | 0.716 | |
| 2024-07-25 | FreeZe (CNOS) | RGB-D | 0.853 | 0.846 | 0.876 | 0.838 | 18.139 | |
| 2024-11-18 | Co-op (CNOS, Coarse, RGBD) | RGB-D | 0.853 | 0.824 | 0.899 | 0.835 | 0.497 | |
| 2024-01-22 | SAM6D | RGB-D | 0.845 | 0.823 | 0.875 | 0.836 | 4.185 | |
| 2024-07-30 | FreeZe (SAM6D) | RGB-D | 0.840 | 0.832 | 0.864 | 0.824 | 11.045 | |
| 2024-01-11 | SAM6D | RGB-D | 0.838 | 0.822 | 0.866 | 0.825 | 4.208 | |
| 2024-03-04 | SAM6D-FastSAM | RGB-D | 0.834 | 0.815 | 0.864 | 0.823 | 1.218 | |
| 2023-09-28 | GenFlow-MultiHypo16 | RGB-D | 0.833 | 0.801 | 0.882 | 0.816 | 26.906 | |
| 2023-11-18 | SAM6D | RGB-D | 0.828 | 0.817 | 0.854 | 0.812 | 1.535 | |
| 2023-11-30 | GigaPose+GenFlow+kabsch (5 hypothesis) | RGB-D | 0.825 | 0.791 | 0.876 | 0.808 | 9.206 | |
| 2023-09-25 | GenFlow-MultiHypo | RGB-D | 0.818 | 0.790 | 0.865 | 0.799 | 16.695 | |
| 2023-09-22 | GenFlow-MultiHypo | RGB-D | 0.818 | 0.789 | 0.865 | 0.799 | 16.726 | |
| 2024-03-04 | SAM6D-CNOSfastSAM | RGB-D | 0.815 | 0.799 | 0.841 | 0.805 | 1.068 | |
| 2023-09-28 | SAM6D-BOP2023-CNOSmask | RGB-D | 0.804 | 0.782 | 0.841 | 0.788 | 3.440 | |
| 2024-03-04 | SAM6D-ZeroPose | RGB-D | 0.792 | 0.775 | 0.818 | 0.781 | 4.833 | |
| 2024-07-16 | GZS6D-BP(coarse+refine+teaser) (coarse+refine+teaser) | RGB-D | 0.772 | 0.716 | 0.748 | 0.852 | 5.884 | |
| 2023-09-27 | Megapose-CNOS_fastSAM+Multihyp_Teaserpp | RGB-D | 0.764 | 0.743 | 0.802 | 0.748 | 81.351 | |
| 2023-09-27 | Megapose-CNOS_fastSAM+Multihyp_Teaserpp-10 | RGB-D | 0.764 | 0.743 | 0.801 | 0.746 | 100.035 | |
| 2024-07-20 | GZS6D-BP(coarse+refine) | RGB-D | 0.758 | 0.694 | 0.742 | 0.837 | 4.984 | |
| 2024-11-22 | Co-op (F3DT2D, 5 Hypo) (BOP 2024) | RGB | 0.697 | 0.583 | 0.663 | 0.846 | 2.922 | |
| 2024-01-27 | FoundPose+FeatRef+Megapose-5hyp (FoundPose+FeatRef+Megapose-5hyp) | RGB | 0.690 | 0.602 | 0.670 | 0.797 | 8.938 | |
| 2024-11-22 | Co-op (CNOS, 5 Hypo) (BOP 2024) | RGB | 0.689 | 0.578 | 0.654 | 0.834 | 3.003 | |
| 2024-11-20 | OPFormer-Megapose refinement (CNOS) | RGB | 0.670 | 0.582 | 0.642 | 0.786 | 1.209 | |
| 2024-11-22 | Co-op (CNOS, 1 Hypo) (BOP 2024) | RGB | 0.670 | 0.565 | 0.635 | 0.809 | 1.110 | |
| 2024-08-04 | GigaPose (Concat) + Megapose (5 hypothesis) (GigaPose (Concat/Edge)) | RGB | 0.666 | 0.574 | 0.642 | 0.782 | 11.885 | |
| 2024-08-04 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Edge)) | RGB | 0.666 | 0.574 | 0.642 | 0.781 | 6.670 | |
| 2024-11-29 | TF6D (Default, CNOS) + Megapose (5 hypothesis) (TF6D (CNOS) + Megapose (5 hypothesis)) | RGB | 0.665 | 0.574 | 0.641 | 0.781 | 2.988 | |
| 2024-08-06 | GigaPose (Concat) + Megapose (5 hypothesis) (GigaPose (Concat/Edge+Harris)) | RGB | 0.661 | 0.570 | 0.638 | 0.777 | 8.366 | |
| 2024-08-06 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Edge+Harris)) | RGB | 0.661 | 0.570 | 0.638 | 0.776 | 8.293 | |
| 2024-02-28 | GigaPose+MegaPose (5 hypothesis) | RGB | 0.661 | 0.570 | 0.637 | 0.777 | 8.491 | |
| 2024-08-06 | GigaPose (Add) + Megapose (5 hypothesis) (GigaPose (Add/Harris)) | RGB | 0.661 | 0.570 | 0.637 | 0.776 | 6.401 | |
| 2024-01-29 | FoundPose+FeatRef+Megapose (FoundPose+FeatRef+Megapose) | RGB | 0.661 | 0.582 | 0.640 | 0.761 | 2.738 | |
| 2024-01-29 | FoundPose+MegaPose (FoundPose+MegaPose) | RGB | 0.661 | 0.581 | 0.641 | 0.760 | 1.961 | |
| 2023-09-26 | ZeroPose-Multi-Hypo-Refinement-DefaultSeg | RGB-D | 0.653 | 0.765 | 0.625 | 0.568 | 12.626 | |
| 2023-11-30 | GigaPose+GenFlow (5 hypothesis) | RGB | 0.652 | 0.545 | 0.622 | 0.788 | 8.764 | |
| 2023-10-18 | GenFlow-MultiHypo16-RGB | RGB | 0.642 | 0.540 | 0.617 | 0.770 | 31.504 | |
| 2023-09-21 | GenFlow-MultiHypo-RGB | RGB | 0.633 | 0.536 | 0.608 | 0.754 | 16.166 | |
| 2023-09-26 | GenFlow-MultiHypo-RGB | RGB | 0.632 | 0.535 | 0.607 | 0.755 | 16.191 | |
| 2024-02-28 | GigaPose+MegaPose (1 hypothesis) | RGB | 0.632 | 0.556 | 0.606 | 0.734 | 1.561 | |
| 2024-09-03 | Co-op (CNOS, Coarse) (coarse only) | RGB | 0.626 | 0.516 | 0.581 | 0.781 | 0.497 | |
| 2023-09-26 | ZeroPose-Multi-Hypo-Refinement | RGB-D | 0.623 | 0.719 | 0.600 | 0.550 | 15.430 | |
| 2023-09-26 | Megapose-CNOS_fastSAM+MultiHyp | RGB | 0.621 | 0.535 | 0.598 | 0.730 | 36.490 | |
| 2023-09-26 | Megapose-CNOS_fastSAM+MultiHyp-10 | RGB | 0.620 | 0.535 | 0.597 | 0.728 | 41.035 | |
| 2024-10-16 | GenFlow | RGB | 0.619 | 0.521 | 0.588 | 0.749 | 8.116 | |
| 2023-09-26 | PoZe-CNOS | RGB-D | 0.611 | 0.782 | 0.551 | 0.500 | 160.084 | |
| 2024-11-02 | GigaPose+GenFlow (1 hypothesis) | RGB | 0.608 | 0.518 | 0.574 | 0.732 | 1.743 | |
| 2024-11-20 | OPFormer-Coarse (CNOS) | RGB | 0.606 | 0.520 | 0.579 | 0.718 | 0.400 | |
| 2023-09-04 | MegaPose-CNOS_fastSAM | RGB | 0.601 | 0.521 | 0.578 | 0.705 | 25.954 | |
| 2024-11-29 | TF6D (Default, CNOS) (TF6D (CNOS)) | RGB | 0.541 | 0.450 | 0.511 | 0.661 | 1.723 | |
| 2024-01-29 | FoundPose+FeatRef (FoundPose+FeatRef) | RGB | 0.497 | 0.388 | 0.440 | 0.664 | 2.199 | |
| 2023-11-12 | SMC-1.0s-CNOS | D | 0.454 | 0.654 | 0.381 | 0.328 | 5.266 | |
| 2024-01-28 | FoundPose-Coarse (FoundPose-Coarse) | RGB | 0.452 | 0.350 | 0.411 | 0.596 | 1.409 | |
| 2023-11-12 | SMC-0.5s-CNOS | D | 0.403 | 0.621 | 0.321 | 0.266 | 2.624 | |
| 2023-08-22 | ZeroPose-One-Hypo | RGB-D | 0.341 | 0.382 | 0.347 | 0.294 | 6.593 | |
| 2023-11-02 | MegaPose-CNOS_fastSAM+CoarseBest | RGB | 0.281 | 0.204 | 0.265 | 0.375 | 12.676 | |
| 2024-02-28 | GigaPose | RGB | 0.278 | 0.173 | 0.209 | 0.454 | 0.297 | |
| 2023-09-18 | GenFlow-coarse | RGB | 0.277 | 0.183 | 0.266 | 0.382 | 2.853 | |
| 2023-09-26 | GenFlow-coarse | RGB | 0.277 | 0.181 | 0.265 | 0.384 | 2.909 |
Tip: Hover over the numbers to see more decimal places.