HOME CHALLENGES DATASETS TASKS LEADERBOARDS SUBMIT RESULTS Sign in
BOP-Classic: Average on BOP-Classic-Core |   ITODD LM-O YCB-V T-LESS HB IC-BIN TUD-L |   HOPE LM RU-APC IC-MI TYO-L
BOP-H3: Average on BOP-H3 |   HOT3D HANDAL HOPEv2
BOP-Industrial: Average on BOP-Industrial |   IPD XYZ-IBD ITODD-MV
Available tasks:
Model-based tasks on unseen objects: 6D localization 6D detection 2D detection 2D segmentation
Model-based tasks on seen objects: 6D localization 6D detection 2D detection 2D segmentation

Model-based 2D detection of unseen objects – BOP-Classic-Core

This leaderbord shows the overall ranking for Model-based 2D detection of unseen objects on BOP-Classic-Core (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). For each method, the date of the latest considered submission is reported. If more submissions of a method are available for a dataset D, the submission with the highest APD score is considered. The reported time is the average time to generate predictions for all objects in a single image (averaged over the datasets).

Date (UTC) Method Test image APCore APLM-O APT-LESS APTUD-L APIC-BIN APITODD APHB APYCB-V Time (s)
2024-05-08 NIDS-Net_WA RGB 0.460 0.449 0.489 0.460 0.245 0.360 0.594 0.624 0.486
2025-11-14 3PT-Detection (Nov 2025) RGB 0.579 0.568 0.545 0.636 0.389 0.528 0.713 0.672 1.630
2024-05-08 NIDS-Net_basic RGB 0.431 0.449 0.428 0.434 0.244 0.349 0.548 0.565 0.489
2024-05-08 NIDS-Net_WA_Sappe RGB 0.469 0.457 0.493 0.486 0.257 0.379 0.587 0.621 0.485
2023-11-23 ViewInvDet RGB 0.442 0.449 0.403 0.508 0.268 0.328 0.554 0.581 1.700
2023-12-05 SAM6D-FastSAM RGB-D 0.471 0.463 0.458 0.573 0.245 0.419 0.551 0.589 0.445
2025-03-07 anonymity RGB 0.519 0.500 0.477 0.593 0.297 0.473 0.605 0.685 0.537
2025-10-01 NeMO-Detect RGB 0.183 0.623 0.622
2025-10-03 FOSOD-D RGB-D 0.494 0.447 0.483 0.530 0.293 0.470 0.558 0.680 1.378
2025-10-01 3PT-Detection (f.k.a IPT) RGB 0.580 0.576 0.521 0.668 0.442 0.515 0.685 0.653 7.500
2024-03-22 SAM6D-FastSAM(RGB) RGB 0.444 0.438 0.417 0.546 0.234 0.374 0.523 0.573 0.249
2025-10-03 FOSOD RGB 0.477 0.460 0.479 0.495 0.234 0.426 0.569 0.679 1.058
2023-08-02 CNOS (SAM) RGB 0.361 0.395 0.330 0.368 0.207 0.313 0.423 0.490 1.847
2025-02-28 CNOS(SAM) RGB 0.313
2025-09-30 BioDet RGB-D 0.394
2023-08-02 CNOS (FastSAM) RGB 0.428 0.433 0.395 0.534 0.226 0.325 0.517 0.568 0.221
2025-02-28 SAM6D(SAM) RGB-D 0.394
2025-08-26 MUSE RGB 0.533 0.511 0.494 0.601 0.337 0.490 0.616 0.684 0.505
2024-09-18 F3DT2D RGB 0.509 0.504 0.482 0.573 0.284 0.480 0.577 0.666 0.432
2023-12-05 SAM6D RGB-D 0.449 0.465 0.437 0.537 0.261 0.394 0.530 0.518 2.795
2023-09-17 ZeroPose RGB 0.341 0.367 0.300 0.431 0.228 0.250 0.398 0.416 3.821
2025-06-03 SAM6D(FastSAM) RGB-D 0.419

Tip: Hover over the numbers to see more decimal places.

Latest submissions to this leaderboard: