mlsanityData to 7 Oct 2026

PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes

arXiv 1711.00199 ↗First posted 1 Nov 2017cs.CV cs.ROcited by 768

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Cited by 21 in Diffusion models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects. In this work, we introduce PoseCNN, a new Convolutional Neural Network for 6D object pose estimation. PoseCNN estimates the 3D translation of an object by localizing its center in the image and predicting its distance from the camera. The 3D rotation of the object is estimated by regressing to a quaternion representation. We also introduce a novel loss function that enables PoseCNN to handle symmetric objects. In addition, we contribute a large scale video dataset for 6D object pose estimation named the YCB-Video dataset. Our dataset provides accurate 6D poses of 21 objects from the YCB dataset observed in 92 videos with 133,827 frames. We conduct extensive experiments on our YCB-Video dataset and the OccludedLINEMOD dataset to show that PoseCNN is highly robust to occlusions, can handle symmetric objects, and provide accurate pose estimation using only color images as input. When using depth data to further refine the poses, our approach achieves state-of-the-art results on the challenging OccludedLINEMOD dataset. Our code and dataset are available at https://rse-lab.cs.washington.edu/projects/posecnn/.

Key facts. Cited by 768 papers in the map (data through 7 Oct 2026). First posted on arXiv 1 Nov 2017.

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Citing papers per year: 2019: 1; 2020: 0; 2021: 106; 2022: 172; 2023: 150; 2024: 116; 2025: 137; 2026: 86.

768 papers.

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  1. 2021CLIPort: What and Where Pathways for Robotic Manipulationcited by 617
  2. 2022Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulationcited by 545
  3. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 411
  4. 2022HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interactioncited by 321
  5. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 320
  6. 2021H2O: Two Hands Manipulating Objects for First Person Interaction Recognitioncited by 251
  7. 2021Accuracy on the Line: On the Strong Correlation Between Out-of-Distribution and In-Distribution Generalizationcited by 248
  8. 2024RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Roboticscited by 242
  9. 2025SAM 3D: 3Dfy Anything in Imagescited by 230
  10. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 198
  11. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videoscited by 194
  12. 2021Where2Act: From Pixels to Actions for Articulated 3D Objectscited by 179
38 more
  1. 2023Aria Digital Twin: A New Benchmark Dataset for Egocentric 3D Machine Perceptioncited by 166
  2. 2021BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environmentscited by 161
  3. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 155
  4. 2023Open-World Object Manipulation using Pre-trained Vision-Language Modelscited by 155
  5. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  6. 2023PoseDiffusion: Solving Pose Estimation via Diffusion-aided Bundle Adjustmentcited by 146
  7. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  8. 2023BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objectscited by 144
  9. 2021Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Timecited by 140
  10. 2024BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulationcited by 140
  11. 2022GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Partscited by 135
  12. 2022SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusioncited by 125
  13. 2021Keypoint Transformer: Solving Joint Identification in Challenging Hands and Object Interactions for Accurate 3D Pose Estimationcited by 122
  14. 2024HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videoscited by 122
  15. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  16. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  17. 2024Track2Act: Predicting Point Tracks from Internet Videos enables Generalizable Robot Manipulationcited by 116
  18. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  19. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 115
  20. 2023OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Modelscited by 114
  21. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 113
  22. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  23. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  24. 2022RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wildcited by 102
  25. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  26. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  27. 2021Decomposing 3D Scenes into Objects via Unsupervised Volume Segmentationcited by 88
  28. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  29. 2023RoboTAP: Tracking Arbitrary Points for Few-Shot Visual Imitationcited by 88
  30. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  31. 2023CNOS: A Strong Baseline for CAD-based Novel Object Segmentationcited by 86
  32. 20226-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmarkcited by 85
  33. 2025SpatialTrackerV2: 3D Point Tracking Made Easycited by 84
  34. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 83
  35. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  36. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  37. 2023OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D Datacited by 81
  38. 2022Fine-Grained Egocentric Hand-Object Segmentation: Dataset, Model, and Applicationscited by 78

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