Table 8.

Sequential ablation study on test data with new objects ($A{P}^{[0.5:0.95]}$).

Object	Baseline ${}^1$	IBL with HDRIs	Realistic Material Texture	Foreground Objects
TB 1	0.620	0.662	0.663	0.677
TB 2	0.481	0.568	0.580	0.629
TB 3	0.466	0.467	0.501	0.556
mean	0.522	0.566	0.581	0.621

¹ The baseline was trained on 5000 images with tight bounding box computation, white point lights, COCO background images, a single basecolor and no additional 3D objects.