This leaderbord shows the overall ranking for Model-free 6D detection of unseen objects on BOP-H3 (HOT3D, HOPEv2, HANDAL). For each method, the date of the latest considered submission is reported. If more submissions of a method are available for a dataset D, the submission with the highest APD score is considered. The reported time is the average time to generate predictions for all objects in a single image (averaged over the datasets).
| Date (UTC) | Method | Test image | APH3 | APHOT3D | APHOPEv2 | APHANDAL | Time (s) | |
|---|---|---|---|---|---|---|---|---|
| 2025-09-10 | gfreedet2-6d-default2d | RGB | 0.438 | 0.483 | 0.411 | 0.422 | 29.883 | |
| 2025-09-06 | gfreedet2-6d | RGB | 0.466 | 0.489 | 0.452 | 0.458 | 39.560 | |
| 2025-09-04 | gfreedet2-6d_lite | RGB | 0.406 | 0.423 | 0.396 | 0.400 | 10.718 | |
| 2024-11-20 | OPFormer (CNOS) | RGB | 0.335 | 0.204 | ||||
| 2025-10-01 | NeMO-Pose | RGB-D | 0.302 | 0.235 |
Tip: Hover over the numbers to see more decimal places.