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 – T-LESS

This leaderbord shows the ranking for Model-based 2D detection of unseen objects on T-LESS. 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)
2025-11-14 3PT-Detection (Nov 2025) RGB 0.545 0.623 0.599 0.053 0.411 0.622 0.576 0.649 0.649 0.058 0.502 0.756 2.704
2025-10-01 3PT-Detection (f.k.a IPT) RGB 0.521 0.589 0.572 0.088 0.420 0.578 0.599 0.809 0.815 0.089 0.688 0.912 11.714
2025-08-26 MUSE (muse_full) RGB 0.494 0.590 0.525 0.016 0.395 0.543 0.516 0.592 0.592 0.016 0.462 0.697 0.519
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
2025-10-03 FOSOD-D (gdino-base-dinov3b-cls-d-gth01) RGB-D 0.483 0.574 0.515 0.008 0.327 0.585 0.548 0.639 0.639 0.010 0.500 0.772 1.290
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
2025-10-03 FOSOD (gdino-base-dinov3b-cls-gth01) RGB 0.479 0.575 0.512 0.011 0.375 0.532 0.545 0.640 0.640 0.012 0.502 0.758 1.070
2025-03-07 anonymity (.) RGB 0.477 0.575 0.508 0.012 0.385 0.531 0.507 0.595 0.595 0.011 0.454 0.698 0.528
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
2025-10-01 NeMO-Detect (NeMO) RGB 0.183 0.230 0.192 0.003 0.115 0.273 0.227 0.233 0.233 0.003 0.133 0.360 4.886

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

Latest submissions to this leaderboard: