mlsanityData to 14 Oct 2026

BOP Challenge 2024 on Model-Based and Model-Free 6D Object Pose Estimation

arXiv 2504.02812 ↗First posted 3 Apr 2025cs.CVcited by 19

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Abstract (arXiv)

We present the evaluation methodology, datasets and results of the BOP Challenge 2024, the 6th in a series of public competitions organized to capture the state of the art in 6D object pose estimation and related tasks. In 2024, our goal was to transition BOP from lab-like setups to real-world scenarios. First, we introduced new model-free tasks, where no 3D object models are available and methods need to onboard objects just from provided reference videos. Second, we defined a new, more practical 6D object detection task where identities of objects visible in a test image are not provided as input. Third, we introduced new BOP-H3 datasets recorded with high-resolution sensors and AR/VR headsets, closely resembling real-world scenarios. BOP-H3 include 3D models and onboarding videos to support both model-based and model-free tasks. Participants competed on seven challenge tracks. Notably, the best 2024 method for model-based 6D localization of unseen objects (FreeZeV2.1) achieves 22% higher accuracy on BOP-Classic-Core than the best 2023 method (GenFlow), and is only 4% behind the best 2023 method for seen objects (GPose2023) although being significantly slower (24.9 vs 2.7s per image). A more practical 2024 method for this task is Co-op which takes only 0.8s per image and is 13% more accurate than GenFlow. Methods have similar rankings on 6D detection as on 6D localization but higher run time. On model-based 2D detection of unseen objects, the best 2024 method (MUSE) achieves 21--29% relative improvement compared to the best 2023 method (CNOS). However, the 2D detection accuracy for unseen objects is still -35% behind the accuracy for seen objects (GDet2023), and the 2D detection stage is consequently the main bottleneck of existing pipelines for 6D localization/detection of unseen objects. The online evaluation system stays open and is available at http://bop.felk.cvut.cz/

Key facts. Cited by 19 papers in the map (data through 14 Oct 2026). Builds on 37 of its 51 references that are in the map. First posted on arXiv 3 Apr 2025.

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37 of 51 references.

References · 37

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,608
  2. 2023Segment Anythingcited by 8,234
  3. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,974
  4. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,226
  5. 2023Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detectioncited by 3,332
  6. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,897
  7. 2024SAM 2: Segment Anything in Images and Videoscited by 2,863
  8. 2020RAFT: Recurrent All-Pairs Field Transforms for Optical Flowcited by 2,415
  9. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  10. 2022Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Itemscited by 612
  11. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 429
  12. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
25 more
  1. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  2. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 201
  3. 2020BOP Challenge 2020 on 6D Object Localizationcited by 193
  4. 2022CroCo v2: Improved Cross-view Completion Pre-training for Stereo Matching and Optical Flowcited by 166
  5. 2023BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objectscited by 148
  6. 2024HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videoscited by 129
  7. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 117
  8. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 114
  9. 2019HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objectscited by 110
  10. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  11. 2023CNOS: A Strong Baseline for CAD-based Novel Object Segmentationcited by 87
  12. 20226-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmarkcited by 86
  13. 2015Recovering 6D Object Pose and Predicting Next-Best-View in the Crowdcited by 79
  14. 2023BOP Challenge 2022 on Detection, Segmentation and Pose Estimation of Specific Rigid Objectscited by 70
  15. 2024BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objectscited by 60
  16. 2023FreeZe: Training-free zero-shot 6D pose estimation with geometric and vision foundation modelscited by 57
  17. 2022UmeTrack: Unified multi-view end-to-end hand tracking for VRcited by 50
  18. 2023HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructionscited by 48
  19. 2015A Dataset for Improved RGBD-based Object Detection and Pose Estimation for Warehouse Pick-and-Placecited by 35
  20. 2024GenFlow: Generalizable Recurrent Flow for 6D Pose Refinement of Novel Objectscited by 33
  21. 2022In-Hand 3D Object Scanning from an RGB Sequencecited by 27
  22. 2024Adapting Pre-Trained Vision Models for Novel Instance Detection and Segmentationcited by 17
  23. 2025Co-op: Correspondence-based Novel Object Pose Estimationcited by 14
  24. 2021Pose Estimation of Specific Rigid Objectscited by 5
  25. 2024GFreeDet: Exploiting Gaussian Splatting and Foundation Models for Model-free Unseen Object Detection in the BOP Challenge 2024cited by 3

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 11; 2026: 8.

19 papers.

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  1. 2025REALM: A Real-to-Sim Validated Benchmark for Generalization in Robotic Manipulationcited by 15
  2. 2025Accurate and efficient zero-shot 6D pose estimation with frozen foundation modelscited by 13
  3. 2025XYZ-IBD: Benchmarking Robust 6D Object Pose Estimation under Real-World Industrial Complexitycited by 7
  4. 2025BOP-ASK: Object-Interaction Reasoning for Vision-Language Modelscited by 4
  5. 2025CHIP: A multi-sensor dataset for 6D pose estimation of chairs in industrial settingscited by 2
  6. 2025NOCTIS: Novel Object Cyclic Threshold based Instance Segmentationcited by 2
  7. 2025From Benchmarks to Reality: Advancing Visual Anomaly Detection by the VAND 3.0 Challengecited by 2
  8. 2026Event6D: Event-based Novel Object 6D Pose Trackingcited by 2
  9. 2025Object Pose Distribution Estimation for Determining Revolution and Reflection Uncertainty in Point Cloudscited by 1
  10. 2026EgoXtreme: A Dataset for Robust Object Pose Estimation in Egocentric Views under Extreme Conditionscited by 1
  11. 2026PROBE: Manipulation-Grounded Visual Question Answering with VLM Agentscited by 1
  12. 2025MVTOP: Multi-View Transformer-based Object Pose-Estimationcited by 0
7 more
  1. 2025BioDet: Boosting Industrial Object Detection with Image Preprocessing Strategiescited by 0
  2. 2025AlignPose: Generalizable 6D Pose Estimation via Multi-view Feature-metric Alignmentcited by 0
  3. 2026Semantic Prior Guided One-View 6D Pose Estimation for Novel Objectscited by 0
  4. 2026Landscape-Awareness for Geometric View Diffusion Modelcited by 0
  5. 2026xperception -- Making Robotic Grasping Easiercited by 0
  6. 2026CLON: Cue-Calibrated Linguistic Object Onboarding for Zero-Shot 6D Pose Front-Endscited by 0
  7. 2026NovaSplat: Model-Free 6D Object Pose Estimation via 3D Gaussian Splatting Onboarding and Refinementcited by 0