BOP: Benchmark for 6D Object Pose Estimation

Model-based 2D detection of unseen objects – T-LESS

This leaderbord shows the ranking for Model-based 2D detection of unseen objects on T-LESS. The metrics are defined in Section 2 of the BOP 2022 paper. The reported time is the average image processing time.

Date (UTC)	Submission	Test image	AP	AP₅₀	AP₇₅	AP_S	AP_M	AP_L	AR₁	AR₁₀	AR₁₀₀	AR_S	AR_M	AR_L	Time (s)
2024-05-08	NIDS-Net_WA_Sappe	RGB	0.493	0.605	0.525	0.015	0.389	0.548	0.540	0.604	0.604	0.014	0.465	0.735	0.462
2024-05-08	NIDS-Net_WA	RGB	0.489	0.605	0.519	0.015	0.397	0.542	0.536	0.601	0.601	0.014	0.465	0.726	0.460
2024-09-18	F3DT2D (test01/blenderproc)	RGB	0.482	0.571	0.512	0.013	0.350	0.546	0.517	0.583	0.583	0.013	0.422	0.720	0.487
2024-11-16	MUSE (full)	RGB	0.467	0.555	0.496	0.009	0.344	0.506	0.507	0.582	0.582	0.014	0.425	0.694	0.580
2023-12-05	SAM6D-FastSAM	RGB-D	0.458	0.553	0.490	0.010	0.364	0.511	0.498	0.556	0.556	0.009	0.412	0.670	0.566
2023-12-05	SAM6D	RGB-D	0.437	0.558	0.465	0.015	0.352	0.480	0.479	0.535	0.535	0.014	0.405	0.640	2.845
2024-05-08	NIDS-Net_basic	RGB	0.428	0.529	0.452	0.011	0.345	0.466	0.489	0.553	0.553	0.010	0.416	0.674	0.470
2024-03-22	SAM6D-FastSAM(RGB)	RGB	0.417	0.518	0.442	0.008	0.288	0.482	0.478	0.544	0.544	0.007	0.389	0.664	0.306
2023-11-23	ViewInvDet	RGB	0.403	0.518	0.425	0.015	0.286	0.467	0.486	0.574	0.574	0.020	0.422	0.679	2.184
2023-08-02	CNOS (FastSAM) (FastSAM)	RGB	0.395	0.497	0.416	0.008	0.277	0.459	0.467	0.538	0.538	0.007	0.395	0.660	0.278
2023-08-02	CNOS (SAM) (SAM)	RGB	0.330	0.468	0.335	0.008	0.253	0.367	0.408	0.471	0.471	0.008	0.361	0.552	2.126
2023-09-17	ZeroPose	RGB	0.300	0.402	0.302	0.018	0.232	0.341	0.379	0.441	0.441	0.017	0.305	0.527	4.180

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

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