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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 – YCB-V

This leaderbord shows the ranking for Model-based 2D segmentation of unseen objects on YCB-V. 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)
2025-03-07 anonymity (.) RGB 0.688 0.915 0.793 0.000 0.571 0.725 0.726 0.741 0.741 0.000 0.591 0.787 0.520
2025-04-25 NOCTIS RGB 0.684 0.907 0.791 0.000 0.594 0.718 0.730 0.737 0.737 0.000 0.620 0.777 0.902
2024-11-16 MUSE (full) RGB 0.672 0.891 0.774 0.000 0.515 0.714 0.710 0.730 0.730 0.000 0.544 0.784 0.440
2024-05-27 NIDS-Net_WA_Sappe RGB 0.650 0.897 0.749 0.000 0.500 0.692 0.697 0.706 0.706 0.000 0.543 0.759 0.436
2025-01-04 LDSeg RGB-D 0.647 0.889 0.739 0.000 0.511 0.688 0.699 0.719 0.719 0.000 0.545 0.771 1.669
2024-05-08 NIDS-Net_WA RGB 0.643 0.896 0.735 0.000 0.492 0.684 0.695 0.704 0.704 0.000 0.540 0.758 0.445
2023-12-05 SAM6D-FastSAM RGB-D 0.621 0.865 0.720 0.000 0.507 0.661 0.680 0.687 0.687 0.000 0.544 0.737 0.370
2024-11-05 Prisma-MPG + SG + CW RGB-D 0.618 0.850 0.709 0.000 0.503 0.665 0.671 0.676 0.676 0.000 0.526 0.726 1.040
2023-11-21 ViewInvDet RGB 0.616 0.861 0.711 0.000 0.521 0.651 0.671 0.684 0.684 0.000 0.551 0.717 1.388
2025-05-10 Prisma-MPG-Complex RGB-D 0.610 0.851 0.700 0.000 0.481 0.655 0.670 0.676 0.676 0.000 0.517 0.727 1.300
2024-11-06 Prisma-MPG + SG RGB-D 0.607 0.843 0.697 0.000 0.488 0.653 0.668 0.673 0.673 0.000 0.519 0.725 1.046
2024-11-06 Prisma-MPG RGB-D 0.607 0.845 0.697 0.000 0.481 0.653 0.668 0.674 0.674 0.000 0.517 0.726 1.394
2024-03-22 SAM6D-FastSAM(RGB) RGB 0.606 0.844 0.702 0.000 0.496 0.650 0.674 0.681 0.681 0.000 0.543 0.730 0.209
2023-12-05 SAM6D RGB-D 0.605 0.856 0.689 0.000 0.507 0.645 0.665 0.680 0.680 0.000 0.548 0.731 2.821
2023-08-02 CNOS (FastSAM) (FastSAM) RGB 0.599 0.838 0.691 0.000 0.492 0.642 0.663 0.677 0.677 0.000 0.540 0.724 0.185
2024-05-07 NIDS-Net_basic RGB 0.597 0.828 0.688 0.000 0.495 0.629 0.651 0.659 0.659 0.000 0.542 0.696 0.445
2024-03-22 SAM6D(RGB) RGB 0.595 0.835 0.679 0.000 0.505 0.632 0.661 0.677 0.677 0.000 0.544 0.726 2.232
2023-08-02 CNOS (SAM) (SAM) RGB 0.595 0.810 0.684 0.000 0.493 0.641 0.646 0.654 0.654 0.000 0.516 0.708 1.784
2023-08-23 ZeroPose RGB 0.534 0.728 0.626 0.000 0.365 0.625 0.605 0.637 0.640 0.000 0.464 0.713 3.444
2023-09-27 lcc-fastsam (3rd. stage) RGB 0.220 0.304 0.266 0.000 0.116 0.311 0.329 0.395 0.395 0.000 0.218 0.484 0.700

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

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