An initial version of the evaluation methodology is described in:
Hodaň et al., On Evaluation of 6D Object Pose Estimation, ECCVW 2016 [PDF, BIB]
A refined version of the evaluation methodology is described in:
Hodaň, Sundermeyer et al., BOP Challenge 2020 on 6D Object Localization, ECCVW 2020 [PDF, BIB]
We encourage submission of results on the T-LESS dataset to the BOP evaluation system.