The presented results were achieved by FoundPose with the GenFlow [D] refinement (row 7 of Table 1 in [A]).

In this submission, FoundPose uses default CNOS-FastSAM [B] segmentations provided for BOP'23. For pose estimation, the method uses features from layer 18 of DINOv2 (ViT-L) with registers [C].

Note that FoundPose doesn't do any task-specific training -- it only uses frozen FastSAM (via CNOS) and frozen DINOv2.

[A] Anonymous: FoundPose: Unseen Object Pose Estimation with Foundation Features. [B] Nguyen et al.: CNOS: A Strong Baseline for CAD-based Novel Object Segmentation, ICCVW 2023. [C] Darcet et al.: Vision transformers need registers, arXiv 2023. [D] GenFlow, https://bop.felk.cvut.cz/method_info/447/.