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 segmentation of unseen objects – BOP-Classic-Core

This leaderbord shows the overall ranking for Model-based 2D segmentation 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)
2025-04-25 NOCTIS RGB 0.520 0.489 0.479 0.583 0.406 0.389 0.607 0.684 0.990
2024-05-27 NIDS-Net_WA_Sappe RGB 0.486 0.439 0.496 0.556 0.328 0.315 0.620 0.650 0.485
2024-05-07 NIDS-Net_basic RGB 0.448 0.429 0.430 0.520 0.305 0.288 0.566 0.597 0.489
2024-05-08 NIDS-Net_WA RGB 0.475 0.432 0.492 0.535 0.305 0.294 0.624 0.643 0.486
2025-11-14 3PT-Segmentation RGB 0.536 0.474 0.640 0.560 0.319 0.431 0.680 0.647
2024-11-05 Prisma-MPG + SG + CW RGB-D 0.492 0.471 0.462 0.586 0.379 0.352 0.576 0.618 0.770
2025-05-10 Prisma-MPG-Complex RGB-D 0.487 0.460 0.458 0.584 0.366 0.336 0.596 0.610 1.276
2024-11-06 Prisma-MPG + SG RGB-D 0.484 0.462 0.454 0.590 0.370 0.336 0.570 0.607 0.782
2023-12-05 SAM6D-FastSAM RGB-D 0.449 0.422 0.420 0.517 0.293 0.319 0.548 0.621 0.445
2023-12-05 SAM6D RGB-D 0.481 0.460 0.451 0.569 0.357 0.332 0.593 0.605 2.795
2025-01-04 LDSeg RGB-D 0.512 0.478 0.488 0.587 0.389 0.370 0.622 0.647 1.890
2024-11-06 Prisma-MPG RGB-D 0.485 0.460 0.458 0.587 0.369 0.334 0.579 0.607 1.446
2024-03-22 SAM6D(RGB) RGB 0.450 0.444 0.408 0.498 0.346 0.300 0.557 0.595 2.281
2024-03-22 SAM6D-FastSAM(RGB) RGB 0.428 0.406 0.393 0.501 0.278 0.290 0.522 0.606 0.249
2023-08-02 CNOS (SAM) RGB 0.403 0.396 0.397 0.391 0.284 0.282 0.480 0.595 1.847
2025-10-20 ocdit RGB 0.417 0.528 0.601 0.691
2025-08-26 MUSE RGB 0.525 0.477 0.478 0.573 0.433 0.391 0.635 0.690 0.505
2023-09-28 lcc-fastsam RGB 0.149 0.167 0.097 0.153 0.110 0.041 0.253 0.220 1.182
2023-08-02 CNOS (FastSAM) RGB 0.412 0.397 0.374 0.480 0.270 0.254 0.511 0.599 0.221
2023-11-21 ViewInvDet RGB 0.426 0.410 0.385 0.464 0.312 0.252 0.545 0.616 1.700
2025-03-07 anonymity RGB 0.512 0.471 0.464 0.569 0.386 0.376 0.628 0.688 0.537
2023-08-23 ZeroPose RGB 0.372 0.356 0.337 0.421 0.293 0.210 0.453 0.534 3.821

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

Latest submissions to this leaderboard: