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 – LM-O

This leaderbord shows the ranking for Model-based 2D detection of unseen objects on LM-O. The reported time is the average time to generate predictions for all objects in a single image (averaged over the datasets).

Date (UTC) Submission Test image AP AP50 AP75 APS APM APL AR1 AR10 AR100 ARS ARM ARL Time (s)
2025-10-01 3PT-Detection (f.k.a IPT) RGB 0.576 0.818 0.683 0.159 0.637 0.713 0.616 0.656 0.656 0.307 0.709 0.794 4.022
2025-11-14 3PT-Detection (Nov 2025) RGB 0.568 0.824 0.673 0.309 0.625 0.687 0.607 0.651 0.651 0.345 0.697 0.782 0.737
2025-08-26 MUSE (muse_full) RGB 0.511 0.789 0.591 0.092 0.571 0.590 0.566 0.578 0.578 0.098 0.636 0.769 0.585
2024-09-18 F3DT2D (test01/blenderproc) RGB 0.504 0.776 0.574 0.073 0.560 0.649 0.557 0.565 0.565 0.075 0.621 0.754 0.505
2025-03-07 anonymity (.) RGB 0.500 0.778 0.567 0.080 0.561 0.539 0.556 0.571 0.571 0.085 0.628 0.748 0.591
2023-12-05 SAM6D RGB-D 0.465 0.780 0.488 0.071 0.520 0.442 0.525 0.542 0.542 0.089 0.598 0.679 3.008
2023-12-05 SAM6D-FastSAM RGB-D 0.463 0.743 0.502 0.059 0.516 0.587 0.522 0.540 0.542 0.076 0.597 0.711 0.686
2025-10-03 FOSOD (gdino-base-dinov3b-cls-gth01) RGB 0.460 0.692 0.523 0.082 0.520 0.593 0.539 0.587 0.587 0.128 0.638 0.756 1.375
2024-05-08 NIDS-Net_WA_Sappe RGB 0.457 0.729 0.507 0.060 0.507 0.378 0.511 0.519 0.519 0.072 0.565 0.573 0.590
2024-05-08 NIDS-Net_WA RGB 0.449 0.723 0.497 0.062 0.501 0.318 0.507 0.516 0.516 0.072 0.564 0.553 0.596
2024-05-08 NIDS-Net_basic RGB 0.449 0.717 0.499 0.057 0.499 0.340 0.503 0.517 0.517 0.067 0.563 0.571 0.591
2023-11-23 ViewInvDet RGB 0.449 0.729 0.484 0.061 0.510 0.443 0.508 0.545 0.547 0.080 0.606 0.659 2.622
2025-10-03 FOSOD-D (gdino-base-dinov3b-cls-d-gth01) RGB-D 0.447 0.661 0.517 0.039 0.502 0.443 0.509 0.586 0.587 0.128 0.638 0.756 2.280
2024-03-22 SAM6D-FastSAM(RGB) RGB 0.438 0.707 0.476 0.055 0.494 0.523 0.501 0.537 0.539 0.076 0.595 0.693 0.367
2023-08-02 CNOS (FastSAM) (FastSAM) RGB 0.433 0.702 0.466 0.056 0.489 0.476 0.493 0.538 0.539 0.076 0.595 0.704 0.327
2023-08-02 CNOS (SAM) (SAM) RGB 0.395 0.647 0.430 0.050 0.452 0.401 0.452 0.476 0.477 0.057 0.533 0.604 1.721
2023-09-16 ZeroPose RGB 0.367 0.601 0.386 0.041 0.413 0.402 0.444 0.505 0.510 0.084 0.561 0.588 4.845

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

Latest submissions to this leaderboard: