mlsanityData to 14 Oct 2026

SSD-6D: Making RGB-based 3D detection and 6D pose estimation great again

arXiv 1711.10006 ↗First posted 27 Nov 2017cs.CVcited by 243

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Abstract (arXiv)

We present a novel method for detecting 3D model instances and estimating their 6D poses from RGB data in a single shot. To this end, we extend the popular SSD paradigm to cover the full 6D pose space and train on synthetic model data only. Our approach competes or surpasses current state-of-the-art methods that leverage RGB-D data on multiple challenging datasets. Furthermore, our method produces these results at around 10Hz, which is many times faster than the related methods. For the sake of reproducibility, we make our trained networks and detection code publicly available.

Key facts. Cited by 243 papers in the map (data through 14 Oct 2026). First posted on arXiv 27 Nov 2017.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 54; 2022: 74; 2023: 41; 2024: 33; 2025: 31; 2026: 10.

243 papers.

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  1. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 658
  2. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 552
  3. 2022PETRv2: A Unified Framework for 3D Perception from Multi-Camera Imagescited by 352
  4. 2021Is Pseudo-Lidar needed for Monocular 3D Object detection?cited by 249
  5. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videoscited by 206
  6. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 201
  7. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 157
  8. 2022M2BEV: Multi-Camera Joint 3D Detection and Segmentation with Unified Birds-Eye View Representationcited by 156
  9. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  10. 2023PoseDiffusion: Solving Pose Estimation via Diffusion-aided Bundle Adjustmentcited by 147
  11. 2021Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Timecited by 141
  12. 2024Track2Act: Predicting Point Tracks from Internet Videos enables Generalizable Robot Manipulationcited by 124
38 more
  1. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 116
  2. 2021Translating Images into Mapscited by 115
  3. 2023OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Modelscited by 115
  4. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 114
  5. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  6. 2025CAST: Component-Aligned 3D Scene Reconstruction from an RGB Imagecited by 106
  7. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  8. 2022RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wildcited by 102
  9. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  10. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  11. 2025SpatialTrackerV2: 3D Point Tracking Made Easycited by 87
  12. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  13. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  14. 2022Full-Body Articulated Human-Object Interactioncited by 78
  15. 2021ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesiscited by 76
  16. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 72
  17. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 70
  18. 2023BOP Challenge 2022 on Detection, Segmentation and Pose Estimation of Specific Rigid Objectscited by 70
  19. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  20. 2021Deep Regression on Manifolds: A 3D Rotation Case Studycited by 67
  21. 2021RePOSE: Fast 6D Object Pose Refinement via Deep Texture Renderingcited by 63
  22. 2024BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objectscited by 60
  23. 2022NeRF-Pose: A First-Reconstruct-Then-Regress Approach for Weakly-supervised 6D Object Pose Estimationcited by 58
  24. 2022Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusionscited by 54
  25. 2022SparsePose: Sparse-View Camera Pose Regression and Refinementcited by 53
  26. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 53
  27. 2023Towards Generalizable Zero-Shot Manipulation via Translating Human Interaction Planscited by 52
  28. 2023Zero-Shot Robot Manipulation from Passive Human Videoscited by 51
  29. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 49
  30. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 49
  31. 2021Wide-Depth-Range 6D Object Pose Estimation in Spacecited by 45
  32. 2022PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objectscited by 45
  33. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  34. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  35. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  36. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 41
  37. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  38. 2021Towards Real-World Category-level Articulation Pose Estimationcited by 39

50 most cited of 243 All 243 (JSON)