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Render for CNN: Viewpoint Estimation in Images Using CNNs Trained with Rendered 3D Model Views

arXiv 1505.05641 ↗First posted 21 May 2015cs.CVcited by 94

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Abstract (arXiv)

Object viewpoint estimation from 2D images is an essential task in computer vision. However, two issues hinder its progress: scarcity of training data with viewpoint annotations, and a lack of powerful features. Inspired by the growing availability of 3D models, we propose a framework to address both issues by combining render-based image synthesis and CNNs. We believe that 3D models have the potential in generating a large number of images of high variation, which can be well exploited by deep CNN with a high learning capacity. Towards this goal, we propose a scalable and overfit-resistant image synthesis pipeline, together with a novel CNN specifically tailored for the viewpoint estimation task. Experimentally, we show that the viewpoint estimation from our pipeline can significantly outperform state-of-the-art methods on PASCAL 3D+ benchmark.

Key facts. Cited by 94 papers in the map (data through 7 Oct 2026). First posted on arXiv 21 May 2015.

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Citing papers per year: 2021: 28; 2022: 22; 2023: 25; 2024: 12; 2025: 2; 2026: 5.

94 papers.

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  1. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  2. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  3. 2021Shelf-Supervised Mesh Prediction in the Wildcited by 65
  4. 2021Implicit-PDF: Non-Parametric Representation of Probability Distributions on the Rotation Manifoldcited by 65
  5. 2021Wide-Baseline Relative Camera Pose Estimation with Directional Learningcited by 49
  6. 2022X-Paste: Revisiting Scalable Copy-Paste for Instance Segmentation using CLIP and StableDiffusioncited by 49
  7. 2023PAD: A Dataset and Benchmark for Pose-agnostic Anomaly Detectioncited by 46
  8. 2021NeMo: Neural Mesh Models of Contrastive Features for Robust 3D Pose Estimationcited by 41
  9. 2021Planar Surface Reconstruction from Sparse Viewscited by 40
  10. 2022Neural Light Field Estimation for Street Scenes with Differentiable Virtual Object Insertioncited by 35
  11. 2023MosaicFusion: Diffusion Models as Data Augmenters for Large Vocabulary Instance Segmentationcited by 35
  12. 2022Occlusion-Aware Self-Supervised Monocular 6D Object Pose Estimationcited by 34
38 more
  1. 2024A survey of synthetic data augmentation methods in computer visioncited by 34
  2. 2023Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagationcited by 33
  3. 2021Projective Manifold Gradient Layer for Deep Rotation Regressioncited by 31
  4. 2021Task2Sim : Towards Effective Pre-training and Transfer from Synthetic Datacited by 26
  5. 2021Image Compositing for Segmentation of Surgical Tools without Manual Annotationscited by 23
  6. 2022Uni6D: A Unified CNN Framework without Projection Breakdown for 6D Pose Estimationcited by 22
  7. 2022EgoEnv: Human-centric environment representations from egocentric videocited by 22
  8. 2026Orient Anything V2: Unifying Orientation and Rotation Understandingcited by 22
  9. 2021Voxel-based 3D Detection and Reconstruction of Multiple Objects from a Single Imagecited by 20
  10. 2021PoseContrast: Class-Agnostic Object Viewpoint Estimation in the Wild with Pose-Aware Contrastive Learningcited by 19
  11. 2023EVORA: Deep Evidential Traversability Learning for Risk-Aware Off-Road Autonomycited by 18
  12. 2022DALL-E for Detection: Language-driven Compositional Image Synthesis for Object Detectioncited by 17
  13. 2023Image to Sphere: Learning Equivariant Features for Efficient Pose Predictioncited by 17
  14. 2023Scene-Driven Multimodal Knowledge Graph Construction for Embodied AIcited by 17
  15. 2021Real-Time, Flight-Ready, Non-Cooperative Spacecraft Pose Estimation Using Monocular Imagerycited by 15
  16. 2021CloudAAE: Learning 6D Object Pose Regression with On-line Data Synthesis on Point Cloudscited by 15
  17. 20213D-RETR: End-to-End Single and Multi-View 3D Reconstruction with Transformerscited by 15
  18. 2023CheckerPose: Progressive Dense Keypoint Localization for Object Pose Estimation with Graph Neural Networkcited by 15
  19. 2023A step towards understanding why classification helps regressioncited by 15
  20. 2021DSC-PoseNet: Learning 6DoF Object Pose Estimation via Dual-scale Consistencycited by 14
  21. 2021A Scaling Law for Synthetic-to-Real Transfer: How Much Is Your Pre-training Effective?cited by 14
  22. 2022Learning-by-Novel-View-Synthesis for Full-Face Appearance-Based 3D Gaze Estimationcited by 13
  23. 2022Spacecraft Pose Estimation Based on Unsupervised Domain Adaptation and on a 3D-Guided Loss Combinationcited by 12
  24. 2023PressureVision++: Estimating Fingertip Pressure from Diverse RGB Imagescited by 12
  25. 2023Eye-tracked Virtual Reality: A Comprehensive Survey on Methods and Privacy Challengescited by 12
  26. 2022A Survey on RGB-D Datasetscited by 11
  27. 2023Beyond Generation: Harnessing Text to Image Models for Object Detection and Segmentationcited by 10
  28. 2022MV6D: Multi-View 6D Pose Estimation on RGB-D Frames Using a Deep Point-wise Voting Networkcited by 9
  29. 2021Learning Transferable 3D Adversarial Cloaks for Deep Trained Detectorscited by 8
  30. 2022GARNet: Global-Aware Multi-View 3D Reconstruction Network and the Cost-Performance Tradeoffcited by 8
  31. 2022Generating Realistic Synthetic Relational Data through Graph Variational Autoencoderscited by 8
  32. 2023Self-supervised Cloth Reconstruction via Action-conditioned Cloth Trackingcited by 8
  33. 2021Lifting 2D Object Locations to 3D by Discounting LiDAR Outliers across Objects and Viewscited by 7
  34. 2022Semantic keypoint-based pose estimation from single RGB framescited by 7
  35. 2022Ki-Pode: Keypoint-based Implicit Pose Distribution Estimation of Rigid Objectscited by 7
  36. 2023UMIFormer: Mining the Correlations between Similar Tokens for Multi-View 3D Reconstructioncited by 7
  37. 2021Occlusion-Robust Object Pose Estimation with Holistic Representationcited by 6
  38. 2023Equivariant Single View Pose Prediction Via Induced and Restricted Representationscited by 6

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