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 – TUD-L

This leaderbord shows the ranking for Model-based 2D detection of unseen objects on TUD-L. 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 0.668 0.898 0.867 0.714 0.673 0.697 0.736 0.781 0.781 0.850 0.779 0.802 1.589
2025-11-14 3PT-Detection (Nov 2025) RGB 0.636 0.873 0.813 0.180 0.650 0.728 0.701 0.737 0.737 0.175 0.734 0.785 0.278
2025-10-01 NeMO-Detect (NeMO) RGB 0.623 0.878 0.789 0.000 0.621 0.687 0.659 0.665 0.665 0.000 0.657 0.741 0.497
2025-08-26 MUSE (muse_full) RGB 0.601 0.890 0.736 0.251 0.610 0.645 0.670 0.703 0.704 0.575 0.694 0.777 0.559
2025-03-07 anonymity (.) RGB 0.593 0.876 0.723 0.201 0.607 0.636 0.672 0.697 0.697 0.500 0.684 0.775 0.562
2023-12-05 SAM6D-FastSAM RGB-D 0.573 0.865 0.672 0.577 0.583 0.621 0.648 0.667 0.667 0.600 0.662 0.718 0.333
2024-09-18 F3DT2D (test01/blenderproc) RGB 0.573 0.856 0.696 0.026 0.573 0.700 0.660 0.689 0.689 0.475 0.676 0.782 0.449
2024-03-22 SAM6D-FastSAM(RGB) RGB 0.546 0.830 0.633 0.536 0.554 0.608 0.631 0.658 0.658 0.575 0.655 0.712 0.186
2023-12-05 SAM6D RGB-D 0.537 0.850 0.617 0.575 0.549 0.446 0.634 0.655 0.659 0.700 0.652 0.605 2.393
2023-08-02 CNOS (FastSAM) (FastSAM) RGB 0.534 0.829 0.623 0.507 0.553 0.378 0.635 0.655 0.655 0.675 0.652 0.603 0.163
2025-10-03 FOSOD-D (gdino-base-dinov3b-cls-d-gth01) RGB-D 0.530 0.820 0.635 0.331 0.585 0.505 0.639 0.718 0.718 0.400 0.708 0.807 1.107
2023-11-23 ViewInvDet RGB 0.508 0.813 0.584 0.599 0.533 0.436 0.620 0.648 0.648 0.650 0.649 0.633 1.268
2025-10-03 FOSOD (gdino-base-dinov3b-cls-gth01) RGB 0.495 0.781 0.589 0.331 0.573 0.407 0.599 0.718 0.718 0.400 0.708 0.807 0.963
2024-05-08 NIDS-Net_WA_Sappe RGB 0.486 0.829 0.522 0.363 0.525 0.414 0.584 0.598 0.598 0.475 0.592 0.595 0.489
2024-05-08 NIDS-Net_WA RGB 0.460 0.807 0.481 0.316 0.507 0.288 0.567 0.581 0.581 0.475 0.574 0.521 0.485
2024-05-08 NIDS-Net_basic RGB 0.434 0.775 0.462 0.047 0.474 0.309 0.554 0.577 0.577 0.475 0.573 0.501 0.487
2023-09-17 ZeroPose RGB 0.431 0.650 0.514 0.030 0.442 0.446 0.540 0.607 0.614 0.775 0.611 0.510 3.406
2023-08-02 CNOS (SAM) (SAM) RGB 0.368 0.598 0.399 0.308 0.383 0.245 0.453 0.476 0.476 0.675 0.477 0.420 1.623

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

Latest submissions to this leaderboard: