6D Object Pose Estimation on BOP challenge (test)
77LM-O ARMAPRPose
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| MAPRPoseYear=2026, Segmentation=SAM-6D, Speed (FPS)=1.47, GPU=A1002026.04 | 77 | 70.2 | 93 | 63.5 | 59.1 | 84.4 | 88.6 | 76.5 | — | |
| FoundationPoseYear=2024, Segmentation=SAM-6D, Speed (FPS)=0.03, GPU=A1002026.04 | 75.6 | 64.6 | 92.3 | 50.8 | 58 | 83.5 | 88.9 | 73.4 | — | |
| FreezeV2Year=2025, Segmentation=SAM-6D, Speed (FPS)=0.71, GPU=A402026.04 | 73.3 | 59.7 | 95.2 | 60.9 | 63.3 | 80.1 | 87.8 | 74.3 | — | |
| Co-op (Top-K=5)Year=2025, Segmentation=SAM-6D, Speed (FPS)=0.14, GPU=30902026.04 | 73 | 67.8 | 91.5 | 59.8 | 63.1 | 87.5 | 88.9 | 75.9 | — | |
| Co-op (Coarse)Year=2025, Segmentation=SAM-6D, Speed (FPS)=1.10, GPU=30902026.04 | 70 | 65.4 | 89.2 | 56.6 | 58.4 | 83.7 | 85.5 | 72.7 | — | |
| SAM-6DYear=2024, Segmentation=SAM-6D, Speed (FPS)=0.23, GPU=30902026.04 | 69.9 | 51.5 | 90.4 | 58.8 | 60.2 | 77.6 | 84.5 | 70.4 | — | |
| Co-opcoarse_estimation=Co-op, pose_refinement=Co-op, hypotheses=52025.03 | 65.5 | 64.8 | 72.9 | 54.2 | 49 | 84.9 | 68.9 | 65.7 | 4.186 | |
| Co-opcoarse_estimation=Co-op, pose_refinement=Co-op, hypotheses=12025.03 | 64.2 | 63.5 | 71.7 | 51.2 | 47.3 | 83.2 | 67 | 64 | 1.852 | |
| ZeroPoseYear=2024, Segmentation=SAM-6D, Speed (FPS)=0.18, GPU=30902026.04 | 63.5 | 43 | 80 | 51.8 | 48.4 | 69.1 | 79.2 | 62.2 | — | |
| FoundPosecoarse_estimation=FoundPose, pose_refinement=MegaPose, hypotheses=52025.03 | 61 | 57 | 69.4 | 47.9 | 40.7 | 72.3 | 69 | 59.6 | 20.523 | |
| GigaPosecoarse_estimation=GigaPose, pose_refinement=Co-op, hypotheses=12025.03 | 60.2 | 56 | 62.8 | 50.2 | 43.4 | 73.9 | 61.9 | 58.3 | 1.149 | |
| GigaPosecoarse_estimation=GigaPose, pose_refinement=MegaPose, hypotheses=52025.03 | 59.9 | 57 | 64.5 | 46.7 | 39.7 | 72.2 | 66.3 | 57.9 | 7.682 | |
| Co-opcoarse_estimation=Co-op, pose_refinement=None, hypotheses=None2025.03 | 59.7 | 59.2 | 64.2 | 45.8 | 39.1 | 78.1 | 62.6 | 58.4 | 0.979 | |
| GigaPosecoarse_estimation=GigaPose, pose_refinement=GenFlow, hypotheses=12025.03 | 59.5 | 55 | 60.7 | 47.8 | 41.3 | 72.2 | 60.8 | 56.8 | 2.213 | |
| GenFlowcoarse_estimation=GenFlow, pose_refinement=GenFlow, hypotheses=52025.03 | 56.3 | 52.3 | 68.4 | 45.3 | 39.5 | 73.9 | 63.3 | 57 | 20.89 | |
| MegaPosecoarse_estimation=MegaPose, pose_refinement=MegaPose, hypotheses=52025.03 | 56 | 50.7 | 68.4 | 41.4 | 33.8 | 70.4 | 62.1 | 54.7 | 47.386 | |
| GigaPosecoarse_estimation=GigaPose, pose_refinement=MegaPose, hypotheses=12025.03 | 55.7 | 54.1 | 58 | 45 | 37.6 | 69.3 | 63.2 | 54.7 | 2.301 | |
| FoundPosecoarse_estimation=FoundPose, pose_refinement=MegaPose, hypotheses=12025.03 | 55.7 | 51 | 63.3 | 43.3 | 35.7 | 69.7 | 66.1 | 55 | 6.385 | |
| GenFlowcoarse_estimation=GenFlow, pose_refinement=GenFlow, hypotheses=12025.03 | 54.7 | 51.4 | 67 | 43.7 | 38.4 | 73 | 61.9 | 55.7 | 10.553 | |
| MegaPosecoarse_estimation=MegaPose, pose_refinement=MegaPose, hypotheses=12025.03 | 49.9 | 47.7 | 65.3 | 36.7 | 31.5 | 65.4 | 60.1 | 50.9 | 31.724 | |
| MegaPoseYear=2023, Segmentation=CNOS, Speed (FPS)=0.03, GPU=V1002026.04 | 49.9 | 47.7 | 65.3 | 36.7 | 31.5 | 65.4 | 60.1 | 50.9 | — | |
| FoundPosecoarse_estimation=FoundPose, pose_refinement=None, hypotheses=None2025.03 | 39.7 | 33.8 | 46.9 | 23.9 | 20.4 | 50.8 | 45.2 | 37.3 | 1.69 | |
| GigaPosecoarse_estimation=GigaPose, pose_refinement=None, hypotheses=None2025.03 | 29.9 | 27.3 | 30.2 | 23.1 | 18.8 | 34.8 | 29 | 27.6 | 0.384 | |
| ZS6Dcoarse_estimation=ZS6D, pose_refinement=None, hypotheses=None2025.03 | 29.8 | 21 | — | — | — | — | 32.4 | — | — | |
| GenFlowcoarse_estimation=GenFlow, pose_refinement=None, hypotheses=None2025.03 | 25 | 21.5 | 30 | 16.8 | 15.4 | 28.3 | 27.7 | 23.5 | 3.839 | |
| MegaPosecoarse_estimation=MegaPose, pose_refinement=None, hypotheses=None2025.03 | 22.9 | 17.7 | 25.8 | 15.2 | 10.8 | 25.1 | 28.1 | 20.8 | 15.465 |