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6-DoF Object Pose from Semantic Keypoints

arXiv 1703.04670 ↗First posted 14 Mar 2017cs.CV cs.ROcited by 89

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Abstract (arXiv)

This paper presents a novel approach to estimating the continuous six degree of freedom (6-DoF) pose (3D translation and rotation) of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike prior work, we are agnostic to whether the object is textured or textureless, as the convnet learns the optimal representation from the available training image data. Furthermore, the approach can be applied to instance- and class-based pose recovery. Empirically, we show that the proposed approach can accurately recover the 6-DoF object pose for both instance- and class-based scenarios with a cluttered background. For class-based object pose estimation, state-of-the-art accuracy is shown on the large-scale PASCAL3D+ dataset.

Key facts. Cited by 89 papers in the map (data through 7 Oct 2026). First posted on arXiv 14 Mar 2017.

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Citing papers per year: 2021: 29; 2022: 25; 2023: 13; 2024: 8; 2025: 9; 2026: 5.

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  1. 2021Accuracy on the Line: On the Strong Correlation Between Out-of-Distribution and In-Distribution Generalizationcited by 248
  2. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 198
  3. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 155
  4. 2021Keypoint Transformer: Solving Joint Identification in Challenging Hands and Object Interactions for Accurate 3D Pose Estimationcited by 122
  5. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  6. 2021DiscoBox: Weakly Supervised Instance Segmentation and Semantic Correspondence from Box Supervisioncited by 59
  7. 2022Zero-Shot Category-Level Object Pose Estimationcited by 57
  8. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  9. 2022Coupled Iterative Refinement for 6D Multi-Object Pose Estimationcited by 48
  10. 2021Wide-Depth-Range 6D Object Pose Estimation in Spacecited by 45
  11. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  12. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
38 more
  1. 2021NeMo: Neural Mesh Models of Contrastive Features for Robust 3D Pose Estimationcited by 41
  2. 2021StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimationcited by 40
  3. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  4. 2021Single-view robot pose and joint angle estimation via render & comparecited by 33
  5. 2023Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagationcited by 33
  6. 2023SE(3) Diffusion Model-based Point Cloud Registration for Robust 6D Object Pose Estimationcited by 32
  7. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  8. 2021VS-Net: Voting with Segmentation for Visual Localizationcited by 29
  9. 2021Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Votingcited by 25
  10. 2022Robust Category-Level 6D Pose Estimation with Coarse-to-Fine Rendering of Neural Featurescited by 23
  11. 2022Neural Correspondence Field for Object Pose Estimationcited by 21
  12. 2022Focal Length and Object Pose Estimation via Render and Comparecited by 17
  13. 2022SC6D: Symmetry-agnostic and Correspondence-free 6D Object Pose Estimationcited by 17
  14. 2021Optimal Pose and Shape Estimation for Category-level 3D Object Perceptioncited by 15
  15. 2021MonoCInIS: Camera Independent Monocular 3D Object Detection using Instance Segmentationcited by 15
  16. 2021Neural View Synthesis and Matching for Semi-Supervised Few-Shot Learning of 3D Posecited by 15
  17. 2023CheckerPose: Progressive Dense Keypoint Localization for Object Pose Estimation with Graph Neural Networkcited by 15
  18. 2021PFRL: Pose-Free Reinforcement Learning for 6D Pose Estimationcited by 14
  19. 2022PoET: Pose Estimation Transformer for Single-View, Multi-Object 6D Pose Estimationcited by 13
  20. 2022Certifiable 3D Object Pose Estimation: Foundations, Learning Models, and Self-Trainingcited by 12
  21. 2023Diff-DOPE: Differentiable Deep Object Pose Estimationcited by 11
  22. 20246DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splattingcited by 10
  23. 2021KDFNet: Learning Keypoint Distance Field for 6D Object Pose Estimationcited by 9
  24. 2022MV6D: Multi-View 6D Pose Estimation on RGB-D Frames Using a Deep Point-wise Voting Networkcited by 9
  25. 2024CRISP: Object Pose and Shape Estimation with Test-Time Adaptationcited by 9
  26. 2022Semantic keypoint-based pose estimation from single RGB framescited by 7
  27. 2024Source-Free and Image-Only Unsupervised Domain Adaptation for Category Level Object Pose Estimationcited by 7
  28. 2024Reconstructing Animals and the Wildcited by 7
  29. 2021Fully Convolutional Geometric Features for Category-level Object Alignmentcited by 6
  30. 2021Occlusion-Robust Object Pose Estimation with Holistic Representationcited by 6
  31. 2022Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypointscited by 6
  32. 2023A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Trainingcited by 6
  33. 2023Linear-Covariance Loss for End-to-End Learning of 6D Pose Estimationcited by 6
  34. 2021VIPose: Real-time Visual-Inertial 6D Object Pose Trackingcited by 5
  35. 2022Video based Object 6D Pose Estimation using Transformerscited by 5
  36. 2021Localization and Mapping using Instance-specific Mesh Modelscited by 4
  37. 2023Neural Textured Deformable Meshes for Robust Analysis-by-Synthesiscited by 4
  38. 2026Picasso: Holistic Scene Reconstruction with Physics-Constrained Samplingcited by 4

50 most cited of 89 All 89 (JSON)