mlsanityData to 14 Oct 2026

Viewpoints and Keypoints

arXiv 1411.6067 ↗First posted 22 Nov 2014cs.CVcited by 59

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Abstract (arXiv)

We characterize the problem of pose estimation for rigid objects in terms of determining viewpoint to explain coarse pose and keypoint prediction to capture the finer details. We address both these tasks in two different settings - the constrained setting with known bounding boxes and the more challenging detection setting where the aim is to simultaneously detect and correctly estimate pose of objects. We present Convolutional Neural Network based architectures for these and demonstrate that leveraging viewpoint estimates can substantially improve local appearance based keypoint predictions. In addition to achieving significant improvements over state-of-the-art in the above tasks, we analyze the error modes and effect of object characteristics on performance to guide future efforts towards this goal.

Key facts. Cited by 59 papers in the map (data through 14 Oct 2026). First posted on arXiv 22 Nov 2014.

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Citing papers per year: 2021: 21; 2022: 13; 2023: 19; 2024: 6.

59 papers.

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  1. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  2. 2021Implicit-PDF: Non-Parametric Representation of Probability Distributions on the Rotation Manifoldcited by 65
  3. 2021DiscoBox: Weakly Supervised Instance Segmentation and Semantic Correspondence from Box Supervisioncited by 59
  4. 2021Wide-Baseline Relative Camera Pose Estimation with Directional Learningcited by 49
  5. 2021Wide-Depth-Range 6D Object Pose Estimation in Spacecited by 45
  6. 2021UnsupervisedR&R: Unsupervised Point Cloud Registration via Differentiable Renderingcited by 44
  7. 2021NeMo: Neural Mesh Models of Contrastive Features for Robust 3D Pose Estimationcited by 41
  8. 2021Planar Surface Reconstruction from Sparse Viewscited by 40
  9. 2023Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagationcited by 33
  10. 2021Projective Manifold Gradient Layer for Deep Rotation Regressioncited by 31
  11. 2021ODAM: Object Detection, Association, and Mapping using Posed RGB Videocited by 22
  12. 2022Uni6D: A Unified CNN Framework without Projection Breakdown for 6D Pose Estimationcited by 22
38 more
  1. 2021Voxel-based 3D Detection and Reconstruction of Multiple Objects from a Single Imagecited by 20
  2. 2021PoseContrast: Class-Agnostic Object Viewpoint Estimation in the Wild with Pose-Aware Contrastive Learningcited by 19
  3. 2022FvOR: Robust Joint Shape and Pose Optimization for Few-view Object Reconstructioncited by 19
  4. 2023Image to Sphere: Learning Equivariant Features for Efficient Pose Predictioncited by 18
  5. 2021PR-GCN: A Deep Graph Convolutional Network with Point Refinement for 6D Pose Estimationcited by 17
  6. 2021Neural View Synthesis and Matching for Semi-Supervised Few-Shot Learning of 3D Posecited by 15
  7. 2023CheckerPose: Progressive Dense Keypoint Localization for Object Pose Estimation with Graph Neural Networkcited by 15
  8. 2023A step towards understanding why classification helps regressioncited by 15
  9. 2021DSC-PoseNet: Learning 6DoF Object Pose Estimation via Dual-scale Consistencycited by 14
  10. 2023Delving into Discrete Normalizing Flows on SO(3) Manifold for Probabilistic Rotation Modelingcited by 14
  11. 2023OOD-CV-v2: An extended Benchmark for Robustness to Out-of-Distribution Shifts of Individual Nuisances in Natural Imagescited by 12
  12. 2023NOVUM: Neural Object Volumes for Robust Object Classificationcited by 11
  13. 2023Automatic registration with continuous pose updates for marker-less surgical navigation in spine surgerycited by 11
  14. 2024iNeMo: Incremental Neural Mesh Models for Robust Class-Incremental Learningcited by 10
  15. 2022MV6D: Multi-View 6D Pose Estimation on RGB-D Frames Using a Deep Point-wise Voting Networkcited by 9
  16. 2023A Laplace-inspired Distribution on SO(3) for Probabilistic Rotation Estimationcited by 9
  17. 2021Lifting 2D Object Locations to 3D by Discounting LiDAR Outliers across Objects and Viewscited by 7
  18. 2022Semantic keypoint-based pose estimation from single RGB framescited by 7
  19. 2023CAROM Air -- Vehicle Localization and Traffic Scene Reconstruction from Aerial Videoscited by 7
  20. 2023Equivariant Single View Pose Prediction Via Induced and Restricted Representationscited by 6
  21. 2021Semi-supervised Viewpoint Estimation with Geometry-aware Conditional Generationcited by 5
  22. 2022Video based Object 6D Pose Estimation using Transformerscited by 5
  23. 2023Towards Robust Probabilistic Modeling on SO(3) via Rotation Laplace Distributioncited by 5
  24. 2023Neural Textured Deformable Meshes for Robust Analysis-by-Synthesiscited by 4
  25. 2023SyMFM6D: Symmetry-aware Multi-directional Fusion for Multi-View 6D Object Pose Estimationcited by 4
  26. 20243D Equivariant Pose Regression via Direct Wigner-D Harmonics Predictioncited by 4
  27. 2022ViewNet: Unsupervised Viewpoint Estimation from Conditional Generationcited by 3
  28. 2023Ultrasound Plane Pose Regression: Assessing Generalized Pose Coordinates in the Fetal Braincited by 3
  29. 2023YOLOPose V2: Understanding and Improving Transformer-based 6D Pose Estimationcited by 3
  30. 2022End-to-end Reinforcement Learning of Robotic Manipulation with Robust Keypoints Representationcited by 2
  31. 20223D-Augmented Contrastive Knowledge Distillation for Image-based Object Pose Estimationcited by 2
  32. 2022ViewNeRF: Unsupervised Viewpoint Estimation Using Category-Level Neural Radiance Fieldscited by 2
  33. 2023Robust Category-Level 3D Pose Estimation from Synthetic Datacited by 2
  34. 20216D Pose Estimation with Combined Deep Learning and 3D Vision Techniques for a Fast and Accurate Object Graspingcited by 1
  35. 2021VideoPose: Estimating 6D object pose from videoscited by 1
  36. 2021End-to-End Learning of Multi-category 3D Pose and Shape Estimationcited by 1
  37. 2022Real-time Detection of 2D Tool Landmarks with Synthetic Training Datacited by 1
  38. 2022Accidental Turntables: Learning 3D Pose by Watching Objects Turncited by 1

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