6-DoF Pose Estimation on BOP (LM-O, TUD-L, IC-BIN, HB, YCB-V)
66.4LM-O PerformanceOneViewAll
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| OneViewAllYear=2026, Modality=RGB-D, Model-free=true, Segmentation=Mask R-CNN, N=782026.05 | 66.4 | 90.1 | 51.2 | 76.8 | 74 | 71.7 | — | |
| SinRef-6D^Input=RGB-D, CAD model-free=Yes, Detection / Segmentation=Mask R-CNN [81], Reference Selection=Manually selected2025.03 | 62 | 90.4 | 44.5 | 64 | 65.9 | 65.4 | 0.4 | |
| SinRef-6DInput=RGB-D, CAD model-free=Yes, Detection / Segmentation=Mask R-CNN [81]2025.03 | 61.8 | 88.9 | 44 | 63.3 | 65.1 | 64.6 | 0.4 | |
| SinRef-6DYear=2025, Modality=RGB-D, Model-free=true, Segmentation=Mask R-CNN2026.05 | 61.8 | 88.9 | 44 | 63.3 | 65.1 | 64.6 | — | |
| GigaPose*Input=RGB, CAD model-free=No, Detection / Segmentation=CNOS (FastSAM) [82], Pose refinement=MegaPose [58]2025.03 | 59.8 | 63.1 | 47.3 | 72.2 | 66.1 | 61.7 | 8.5 | |
| MegaPose*Input=RGB-D, CAD model-free=No, Detection / Segmentation=Mask R-CNN [81], Pose refinement=MegaPose [58]2025.03 | 58.3 | 71.2 | 37.1 | 75.7 | 63.3 | 61.1 | 93.3 | |
| MegaPoseYear=2023, Modality=RGB-D, Model-free=false, Segmentation=Mask R-CNN2026.05 | 58.3 | 71.2 | 37.1 | 75.7 | 63.3 | 61.1 | — | |
| SinRef-6DInput=RGB-D, CAD model-free=Yes, Detection / Segmentation=CNOS (FastSAM) [82]2025.03 | 56.5 | 77.4 | 35.9 | 61 | 62.2 | 58.6 | 1.5 | |
| ZeroPose*Input=RGB-D, CAD model-free=No, Detection / Segmentation=Mask R-CNN [81], Pose refinement=MegaPose [58]2025.03 | 56.2 | 87.2 | 41.8 | 68.2 | 58.4 | 62.4 | — | |
| SinRef-6D^Input=RGB-D, CAD model-free=Yes, Detection / Segmentation=CNOS (FastSAM) [82], Reference Selection=Manually selected2025.03 | 56.2 | 78.6 | 37.1 | 62.1 | 62.9 | 59.4 | 1.5 | |
| ZeroPoseYear=2025, Modality=RGB-D, Model-free=false, Segmentation=Mask R-CNN2026.05 | 56.2 | 87.2 | 41.8 | 68.2 | 58.4 | 62.4 | — | |
| SAM-6D‡Input=RGB-D, CAD model-free=No, Detection / Segmentation=CNOS (FastSAM) [82], Reference View=Single, Retrain and Test2025.03 | 53.9 | 32.2 | 25 | 55.4 | 59.1 | 45.1 | 1.1 | |
| ZeroPose*Input=RGB-D, CAD model-free=No, Detection / Segmentation=CNOS (FastSAM) [82], Pose refinement=MegaPose [58]2025.03 | 53.8 | 83.5 | 39.2 | 65.3 | 65.3 | 61.4 | 17.6 | |
| MegaPose*Input=RGB, CAD model-free=No, Detection / Segmentation=Mask R-CNN [81], Pose refinement=MegaPose [58]2025.03 | 53.7 | 58.4 | 43.6 | 72.9 | 60.4 | 57.8 | — | |
| SAM-6D‡Input=RGB-D, CAD model-free=No, Detection / Segmentation=Mask R-CNN [81], Reference View=Single, Retrain and Test2025.03 | 53.7 | 38.4 | 26.3 | 53.2 | 60.1 | 46.3 | 0.3 | |
| MegaPoseYear=2023, Modality=RGBD, Model-free=false, Segmentation=Mask R-CNN [67]2026.05 | 53.7 | 58.4 | 43.6 | 72.9 | 60.4 | 57.8 | — | |
| SinRef-6D^Input=RGB-D, CAD model-free=Yes, Detection / Segmentation=Single Ref.-based CNOS, Reference Selection=Manually selected2025.03 | 51.2 | 65.3 | 32.7 | 52.9 | 58.4 | 52.1 | 0.7 | |
| MegaPose*Input=RGB, CAD model-free=No, Detection / Segmentation=CNOS (FastSAM) [82], Pose refinement=MegaPose [58]2025.03 | 49.9 | 65.3 | 36.7 | 65.4 | 60.1 | 55.5 | 33.9 | |
| SinRef-6DInput=RGB-D, CAD model-free=Yes, Detection / Segmentation=Single Ref.-based CNOS2025.03 | 48.4 | 62.5 | 31.6 | 50.7 | 56.9 | 50 | 0.7 | |
| GigaPoseInput=RGB, CAD model-free=No, Detection / Segmentation=CNOS (FastSAM) [82]2025.03 | 29.6 | 30 | 22.3 | 34.1 | 27.8 | 28.8 | 0.4 | |
| ZeroPoseInput=RGB-D, CAD model-free=No, Detection / Segmentation=Mask R-CNN [81]2025.03 | 26.1 | 61.1 | 24.7 | 38.2 | 29.5 | 35.9 | — | |
| MegaPoseInput=RGB, CAD model-free=No, Detection / Segmentation=CNOS (FastSAM) [82]2025.03 | 22.9 | 25.8 | 15.2 | 25.1 | 28.1 | 23.4 | 16.6 | |
| MegaPoseInput=RGB, CAD model-free=No, Detection / Segmentation=Mask R-CNN [81]2025.03 | 18.7 | 20.5 | 15.3 | 18.6 | 13.9 | 17.4 | 25.6 | |
| SAM-6D†Input=RGB-D, CAD model-free=No, Detection / Segmentation=Mask R-CNN [81], Reference View=Single, Direct Test2025.03 | 12.9 | 37.9 | 11.2 | 25.2 | 22.4 | 21.9 | 0.3 | |
| SAM-6DYear=2024, Modality=RGB-D, Model-free=false, Segmentation=Mask R-CNN2026.05 | 12.9 | 37.9 | 11.2 | 25.2 | 22.4 | 21.9 | — | |
| SAM-6D†Input=RGB-D, CAD model-free=No, Detection / Segmentation=CNOS (FastSAM) [82], Reference View=Single, Direct Test2025.03 | 10.4 | 30.1 | 9.4 | 29 | 21.8 | 20.1 | 1.2 |