mlsanityData to 7 Oct 2026

Deep Learning of Local RGB-D Patches for 3D Object Detection and 6D Pose Estimation

arXiv 1607.06038 ↗First posted 20 Jul 2016cs.CVcited by 34

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Abstract (arXiv)

We present a 3D object detection method that uses regressed descriptors of locally-sampled RGB-D patches for 6D vote casting. For regression, we employ a convolutional auto-encoder that has been trained on a large collection of random local patches. During testing, scene patch descriptors are matched against a database of synthetic model view patches and cast 6D object votes which are subsequently filtered to refined hypotheses. We evaluate on three datasets to show that our method generalizes well to previously unseen input data, delivers robust detection results that compete with and surpass the state-of-the-art while being scalable in the number of objects.

Key facts. Cited by 34 papers in the map (data through 7 Oct 2026). First posted on arXiv 20 Jul 2016.

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Citing papers per year: 2021: 9; 2022: 18; 2023: 3; 2024: 2; 2025: 2.

34 papers.

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  1. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  2. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  3. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  4. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 70
  5. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 69
  6. 2022Anomaly Detection in 3D Point Clouds using Deep Geometric Descriptorscited by 66
  7. 2021Convolutional Hough Matching Networkscited by 43
  8. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  9. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  10. 2022Occlusion-Aware Self-Supervised Monocular 6D Object Pose Estimationcited by 34
  11. 2022DPODv2: Dense Correspondence-Based 6 DoF Pose Estimationcited by 32
  12. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
22 more
  1. 2022CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wildcited by 28
  2. 2022Uni6D: A Unified CNN Framework without Projection Breakdown for 6D Pose Estimationcited by 22
  3. 20216D-ViT: Category-Level 6D Object Pose Estimation via Transformer-based Instance Representation Learningcited by 20
  4. 2023FSD: Fast Self-Supervised Single RGB-D to Categorical 3D Objectscited by 18
  5. 2021StablePose: Learning 6D Object Poses from Geometrically Stable Patchescited by 17
  6. 2024LaPose: Laplacian Mixture Shape Modeling for RGB-Based Category-Level Object Pose Estimationcited by 13
  7. 2021Convolutional Hough Matching Networks for Robust and Efficient Visual Correspondencecited by 12
  8. 2022Spacecraft Pose Estimation Based on Unsupervised Domain Adaptation and on a 3D-Guided Loss Combinationcited by 12
  9. 2021KDFNet: Learning Keypoint Distance Field for 6D Object Pose Estimationcited by 9
  10. 2022DCL-Net: Deep Correspondence Learning Network for 6D Pose Estimationcited by 9
  11. 2023Security Considerations in AI-Robotics: A Survey of Current Methods, Challenges, and Opportunitiescited by 9
  12. 2022HMD-EgoPose: Head-Mounted Display-Based Egocentric Marker-Less Tool and Hand Pose Estimation for Augmented Surgical Guidancecited by 5
  13. 2022Survey and Systematization of 3D Object Detection Models and Methodscited by 3
  14. 2022BiCo-Net: Regress Globally, Match Locally for Robust 6D Pose Estimationcited by 3
  15. 2022Spatial Feature Mapping for 6DoF Object Pose Estimationcited by 3
  16. 2021MPF6D: Masked Pyramid Fusion 6D Pose Estimationcited by 0
  17. 2022Weakly Supervised Learning of Keypoints for 6D Object Pose Estimationcited by 0
  18. 2022Context-aware 6D Pose Estimation of Known Objects using RGB-D datacited by 0
  19. 2023Canonical mapping as a general-purpose object descriptor for robotic manipulationcited by 0
  20. 2024Detection, Recognition and Pose Estimation of Tabletop Objectscited by 0
  21. 2025Glissando-Net: Deep sinGLe vIew category level poSe eStimation ANd 3D recOnstructioncited by 0
  22. 2025GTR: Gaussian Splatting Tracking and Reconstruction of Unknown Objects Based on Appearance and Geometric Complexitycited by 0