6D Object Pose Estimation on BOP 7 Core Datasets (test)
75.6AR (LM-O)FoundationPose
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| FoundationPoseDetection / Segmentation=SAM-6D [39]2025.03 | 75.6 | 64.6 | 92.3 | 50.8 | 58 | 83.5 | 88.9 | 73.4 | 29.317 | |
| Co-opDetection / Segmentation=CNOS [49], Hypotheses=52025.03 | 73 | 66.4 | 90.5 | 59.7 | 61.3 | 87.1 | 88.7 | 75.2 | 7.162 | |
| Co-opDetection / Segmentation=SAM-6D [39], Hypotheses=52025.03 | 73 | 67.8 | 91.5 | 59.8 | 63.1 | 87.5 | 88.9 | 75.9 | 7.236 | |
| FreeZeDetection / Segmentation=SAM-6D [39]2025.03 | 71.6 | 53.1 | 94.9 | 54.5 | 58.6 | 79.6 | 84 | 70.9 | 11.473 | |
| Co-opDetection / Segmentation=SAM-6D [39], Hypotheses=12025.03 | 71.6 | 65.8 | 91.5 | 57.6 | 60.1 | 85.1 | 87.7 | 74.2 | 2.265 | |
| Co-opDetection / Segmentation=CNOS [49], Hypotheses=12025.03 | 71.5 | 64.6 | 90.5 | 57.5 | 58.2 | 85.7 | 87.4 | 73.6 | 2.331 | |
| Co-opDetection / Segmentation=CNOS [49], Mode=Coarse2025.03 | 70 | 64.2 | 87.9 | 56.4 | 56.6 | 84.2 | 85.3 | 72.1 | 0.978 | |
| Co-opDetection / Segmentation=SAM-6D [39], Mode=Coarse2025.03 | 70 | 65.4 | 89.2 | 56.6 | 58.4 | 83.7 | 85.5 | 72.7 | 0.911 | |
| SAM-6DDetection / Segmentation=SAM-6D [39]2025.03 | 69.9 | 51.5 | 90.4 | 58.8 | 60.2 | 77.6 | 84.5 | 70.4 | 4.367 | |
| FreeZeDetection / Segmentation=CNOS [49]2025.03 | 68.9 | 52 | 93.6 | 49.9 | 56.1 | 79 | 85.3 | 69.3 | 13.474 | |
| GigaPose + GenFlowDetection / Segmentation=CNOS [49]2025.03 | 67.8 | 55.6 | 81.1 | 56.3 | 57.5 | 79.1 | 82.5 | 68.6 | 11.14 | |
| SAM-6DDetection / Segmentation=CNOS [49]2025.03 | 65.1 | 47.9 | 82.5 | 49.7 | 56.2 | 73.8 | 81.5 | 65.3 | 1.254 | |
| GenFlowDetection / Segmentation=CNOS [49]2025.03 | 63.5 | 52.1 | 86.2 | 53.4 | 55.4 | 77.9 | 83.3 | 67.4 | 34.578 | |
| MegaPoseDetection / Segmentation=CNOS [49], Hypotheses=102025.03 | 62.6 | 48.7 | 85.1 | 46.7 | 46.8 | 73 | 76.4 | 62.8 | 141.965 | |
| FoundPosePose refinement=Feat. + MegaPose, No training=false, Number of hypotheses=5 hypotheses2023.11 | 61 | 57 | 69.4 | 47.9 | 40.7 | 72.3 | 69 | 59.6 | 20.5 | |
| GigaPosePose refinement=MegaPose, No training=false, Number of hypotheses=5 hypotheses2023.11 | 59.9 | 57 | 64.5 | 46.7 | 39.7 | 72.2 | 66.3 | 57.9 | 7.3 | |
| FoundPosePose refinement=MegaPose, No training=false, Number of hypotheses=5 hypotheses2023.11 | 58.6 | 54.9 | 65.7 | 44.4 | 36.1 | 70.3 | 67.3 | 56.8 | 11.2 | |
| GenFlowPose refinement=GenFlow, No training=false, Number of hypotheses=5 hypotheses2023.11 | 56.3 | 52.3 | 68.4 | 45.3 | 39.5 | 73.9 | 63.3 | 57.1 | 20.9 | |
| MegaPosePose refinement=MegaPose, No training=false, Number of hypotheses=5 hypotheses2023.11 | 56 | 50.7 | 68.4 | 41.4 | 33.8 | 70.4 | 62.1 | 54.7 | 47.4 | |
| FoundPosePose refinement=Feat. + MegaPose, No training=false, Number of hypotheses=Single hypothesis2023.11 | 55.7 | 51 | 63.3 | 43.3 | 35.7 | 69.7 | 66.1 | 55 | 6.4 | |
| GigaPosePose refinement=MegaPose, No training=false, Number of hypotheses=Single hypothesis2023.11 | 55.6 | 54.6 | 57.8 | 44.3 | 37.8 | 69.3 | 63.4 | 54.7 | 2.4 | |
| GigaPoseRef Num=162, Detection=CNOS [59], Refinement=MegaPose [39]2026.01 | 55.6 | 54.6 | 57.8 | 44.3 | 37.8 | 69.3 | 63.4 | 54.7 | 2.3 | |
| FoundPosePose refinement=MegaPose, No training=false, Number of hypotheses=Single hypothesis2023.11 | 55.4 | 51 | 63.3 | 43 | 34.6 | 69.5 | 66.1 | 54.7 | 4.4 | |
| FoundPoseRef Num=798, Detection=CNOS [59], Refinement=MegaPose [39]2026.01 | 55.4 | 51 | 63.3 | 43 | 34.6 | 69.5 | 66.1 | 54.7 | 4.4 | |
| MixRI+Ref Num=162, Detection=CNOS [59], Refinement=MegaPose [39]2026.01 | 52.1 | 50.4 | 57.5 | 44.5 | 34.3 | 67.1 | 64.8 | 53 | 2.1 | |
| MegaPosePose refinement=MegaPose, No training=false, Number of hypotheses=Single hypothesis2023.11 | 49.9 | 47.7 | 65.3 | 36.7 | 31.5 | 65.4 | 60.1 | 50.9 | 31.7 | |
| MegaPoseRef Num=520, Detection=CNOS [59], Refinement=MegaPose [39]2026.01 | 49.9 | 47.7 | 65.3 | 36.7 | 31.5 | 65.4 | 60.1 | 50.9 | 17 | |
| MixRIRef Num=24, Detection=CNOS [59], Refinement=MegaPose [39]2026.01 | 44.8 | 46.1 | 48.2 | 44.6 | 21.3 | 61.4 | 62 | 46.9 | 1.7 | |
| MixRI+Ref Num=162, Detection=CNOS [59], Refinement=-2026.01 | 42.6 | 36 | 41.8 | 33.9 | 22.2 | 56 | 56.9 | 41.3 | 1 | |
| FoundPosePose refinement=Featuremetric, No training=true, Number of hypotheses=5 hypotheses2023.11 | 42 | 43.6 | 60.2 | 30.5 | 27.3 | 53.7 | 51.3 | 44.1 | 7.4 | |
| MixRIRef Num=12, Detection=CNOS [59], Refinement=MegaPose [39]2026.01 | 40.8 | 45 | 44.6 | 44.4 | 21.6 | 61.4 | 61.1 | 45.6 | 1.5 | |
| FoundPosePose refinement=None, No training=true, Number of hypotheses=Coarse2023.11 | 39.6 | 33.8 | 46.7 | 23.9 | 20.4 | 50.8 | 45.2 | 37.2 | 1.7 | |
| FoundPoseParm size=302.9 M, Ref Num=798, Detection=CNOS [59]2026.01 | 39.6 | 33.8 | 46.7 | 23.9 | 20.4 | 50.8 | 45.2 | 37.2 | 1.6 | |
| FoundPosePose refinement=Featuremetric, No training=true, Number of hypotheses=Single hypothesis2023.11 | 39.5 | 39.6 | 56.7 | 28.3 | 26.2 | 58.5 | 49.7 | 42.6 | 2.6 | |
| OSOPPose refinement=None, No training=false, Number of hypotheses=Coarse2023.11 | 31.2 | — | — | — | — | 49.2 | 33.2 | 31.2 | — | |
| MixRIParm size=5.3 M, Ref Num=24, Detection=CNOS [59]2026.01 | 30.4 | 27.4 | 33.6 | 30.8 | 11.6 | 50.2 | 54.6 | 34.1 | 0.7 | |
| GigaPosePose refinement=None, No training=false, Number of hypotheses=Coarse2023.11 | 29.9 | 27.3 | 30.2 | 23.1 | 18.8 | 34.8 | 29 | 27.6 | 0.9 | |
| GigaPoseParm size=316.3 M, Ref Num=162, Detection=CNOS [59]2026.01 | 29.9 | 27.3 | 30.2 | 23.1 | 18.8 | 34.8 | 29 | 27.6 | 0.8 | |
| ZS6DPose refinement=None, No training=false, Number of hypotheses=Coarse2023.11 | 29.8 | 21 | — | — | — | — | — | 32.4 | — | |
| ZS6DParm size=21.7 M, Ref Num=300, Detection=CNOS [59]2026.01 | 29.8 | 21 | — | — | — | — | 32.4 | — | — | |
| OSOPRef Num=90 k, Detection=OSOP [69]2026.01 | 27.4 | — | — | — | — | 46.4 | 29.6 | — | — | |
| MixRIParm size=5.3 M, Ref Num=12, Detection=CNOS [59]2026.01 | 27 | 25.4 | 29.3 | 29.7 | 10.9 | 44.9 | 52.8 | 31.4 | 0.5 | |
| GenFlowPose refinement=None, No training=false, Number of hypotheses=Coarse2023.11 | 25 | 21.5 | 30 | 16.8 | 15.4 | 28.3 | 27.7 | 23.5 | 3.8 | |
| GenflowParm size=21.7 M, Ref Num=208, Detection=CNOS [59]2026.01 | 25 | 21.5 | 30 | 16.8 | 15.4 | 28.3 | 27.7 | 23.5 | 3.8 | |
| MegaPosePose refinement=None, No training=false, Number of hypotheses=Coarse2023.11 | 22.9 | 17.7 | 25.8 | 15.2 | 10.8 | 25.1 | 28.1 | 20.8 | 15.5 | |
| MegaPoseParm size=21.6 M, Ref Num=520, Detection=CNOS [59]2026.01 | 22.9 | 17.7 | 25.8 | 15.2 | 10.8 | 25.1 | 28.1 | 20.8 | 15.5 | |
| MegaPoseParm size=21.6 M, Ref Num=520, Detection=Mask R-CNN [26]2026.01 | 18.7 | 19.7 | 20.5 | 15.3 | 8 | 18.6 | 13.9 | 16.4 | — |