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A Unified Framework for Multi-View Multi-Class Object Pose Estimation

arXiv 1803.08103 ↗First posted 21 Mar 2018cs.CVcited by 49

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Abstract (arXiv)

One core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately inferring six Degree-of-Freedom (6-DoF) pose for a large number of object classes from single or multiple views. To learn discriminative pose features, we integrate three new capabilities into a deep Convolutional Neural Network (CNN): an inference scheme that combines both classification and pose regression based on a uniform tessellation of the Special Euclidean group in three dimensions (SE(3)), the fusion of class priors into the training process via a tiled class map, and an additional regularization using deep supervision with an object mask. Further, an efficient multi-view framework is formulated to address single-view ambiguity. We show that this framework consistently improves the performance of the single-view network. We evaluate our method on three large-scale benchmarks: YCB-Video, JHUScene-50 and ObjectNet-3D. Our approach achieves competitive or superior performance over the current state-of-the-art methods.

Key facts. Cited by 49 papers in the map (data through 7 Oct 2026). First posted on arXiv 21 Mar 2018.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 13; 2022: 22; 2023: 9; 2024: 2; 2025: 2; 2026: 1.

49 papers.

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  1. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  2. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  3. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  4. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  5. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  6. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  7. 2022Look Closer: Bridging Egocentric and Third-Person Views with Transformers for Robotic Manipulationcited by 49
  8. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  9. 2021StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimationcited by 40
  10. 2023Incremental 3D Semantic Scene Graph Prediction from RGB Sequencescited by 39
  11. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  12. 2022DPODv2: Dense Correspondence-Based 6 DoF Pose Estimationcited by 32
37 more
  1. 2021ODAM: Object Detection, Association, and Mapping using Posed RGB Videocited by 22
  2. 2022Neural Correspondence Field for Object Pose Estimationcited by 21
  3. 20216D-ViT: Category-Level 6D Object Pose Estimation via Transformer-based Instance Representation Learningcited by 20
  4. 2021PoseContrast: Class-Agnostic Object Viewpoint Estimation in the Wild with Pose-Aware Contrastive Learningcited by 19
  5. 2022ES6D: A Computation Efficient and Symmetry-Aware 6D Pose Regression Frameworkcited by 19
  6. 2021PR-GCN: A Deep Graph Convolutional Network with Point Refinement for 6D Pose Estimationcited by 17
  7. 2023HiPose: Hierarchical Binary Surface Encoding and Correspondence Pruning for RGB-D 6DoF Object Pose Estimationcited by 17
  8. 2023Deep Fusion Transformer Network with Weighted Vector-Wise Keypoints Voting for Robust 6D Object Pose Estimationcited by 16
  9. 2022PoET: Pose Estimation Transformer for Single-View, Multi-Object 6D Pose Estimationcited by 13
  10. 2022MV6D: Multi-View 6D Pose Estimation on RGB-D Frames Using a Deep Point-wise Voting Networkcited by 9
  11. 2022DCL-Net: Deep Correspondence Learning Network for 6D Pose Estimationcited by 9
  12. 2022Multi-View Object Pose Refinement With Differentiable Renderercited by 8
  13. 2024OP-Align: Object-level and Part-level Alignment for Self-supervised Category-level Articulated Object Pose Estimationcited by 8
  14. 2022BCOT: A Markerless High-Precision 3D Object Tracking Benchmarkcited by 7
  15. 2023TransPose: 6D Object Pose Estimation with Geometry-Aware Transformercited by 7
  16. 2023Hierarchical Graph Neural Networks for Proprioceptive 6D Pose Estimation of In-hand Objectscited by 6
  17. 2022Multi-view object pose estimation from correspondence distributions and epipolar geometrycited by 5
  18. 2022Video based Object 6D Pose Estimation using Transformerscited by 5
  19. 2022Uni6Dv2: Noise Elimination for 6D Pose Estimationcited by 4
  20. 2023SyMFM6D: Symmetry-aware Multi-directional Fusion for Multi-View 6D Object Pose Estimationcited by 4
  21. 2022BiCo-Net: Regress Globally, Match Locally for Robust 6D Pose Estimationcited by 3
  22. 2022CenDerNet: Center and Curvature Representations for Render-and-Compare 6D Pose Estimationcited by 2
  23. 2023Manifold-Aware Self-Training for Unsupervised Domain Adaptation on Regressing 6D Object Posecited by 2
  24. 2023For A More Comprehensive Evaluation of 6DoF Object Pose Trackingcited by 2
  25. 2021VideoPose: Estimating 6D object pose from videoscited by 1
  26. 20226IMPOSE: Bridging the Reality Gap in 6D Pose Estimation for Robotic Graspingcited by 1
  27. 2022Category-Level 6D Object Pose Estimation with Flexible Vector-Based Rotation Representationcited by 1
  28. 2021Multistream ValidNet: Improving 6D Object Pose Estimation by Automatic Multistream Validationcited by 0
  29. 2021Learning Stereopsis from Geometric Synthesis for 6D Object Pose Estimationcited by 0
  30. 2021MPF6D: Masked Pyramid Fusion 6D Pose Estimationcited by 0
  31. 2022Weakly Supervised Learning of Keypoints for 6D Object Pose Estimationcited by 0
  32. 2022OOOE: Only-One-Object-Exists Assumption to Find Very Small Objects in Chest Radiographscited by 0
  33. 2022Context-aware 6D Pose Estimation of Known Objects using RGB-D datacited by 0
  34. 2023A Stochastic-Geometrical Framework for Object Pose Estimation based on Mixture Models Avoiding the Correspondence Problemcited by 0
  35. 2025MVTOP: Multi-View Transformer-based Object Pose-Estimationcited by 0
  36. 2025AlignPose: Generalizable 6D Pose Estimation via Multi-view Feature-metric Alignmentcited by 0
  37. 2026OCH3R: Object-Centric Holistic 3D Reconstructioncited by 0