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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 – YCB-V

This leaderbord shows the ranking for Task 4 on YCB-V. 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 0.882 0.852 0.921 0.873 -1.000
2024-01-22 SAM6D RGB-D 0.845 0.823 0.875 0.836 4.185
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 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
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
2024-01-27 FoundPose+FeatRef+Megapose-5hyp (FoundPose+FeatRef+Megapose-5hyp) RGB 0.690 0.602 0.670 0.797 8.938
2024-02-28 GigaPose+MegaPose (5 hypothesis) RGB 0.661 0.570 0.637 0.777 8.491
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
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
2023-09-04 MegaPose-CNOS_fastSAM RGB 0.601 0.521 0.578 0.705 25.954
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.

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