Table 6.

Results for additional foreground objects.

Foreground Objects	${\mathit{n}}_{\mathbf{FG}}$	Texture	${\mathbf{AP}}^{[0.5:0.95]}$	${\mathbf{AP}}^{0.5}$
None	0	-	0.653	0.963
YCB tools	$\mathcal{U}\{0,1\}$	Original	0.657	0.963
YCB tools	$\mathcal{U}\{0,2\}$	Original	0.653	0.963
YCB tools	$\mathcal{U}\{0,3\}$	Original	0.660	0.972
YCB tools	$\mathcal{U}\{0,4\}$	Original	0.659	0.972
YCB tools	$\mathcal{U}\{0,3\}$	COCO	0.653	0.951
YCB tools	$\mathcal{U}\{0,3\}$	Random material	0.647	0.958
Cubes	$\mathcal{U}\{0,3\}$	COCO	0.666	0.987
Cubes	$\mathcal{U}\{0,3\}$	Random material	0.669	0.989