mlsanityData to 14 Oct 2026

3D Pose Estimation and 3D Model Retrieval for Objects in the Wild

arXiv 1803.11493 ↗First posted 30 Mar 2018cs.CV cs.AIcited by 31

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Abstract (arXiv)

We propose a scalable, efficient and accurate approach to retrieve 3D models for objects in the wild. Our contribution is twofold. We first present a 3D pose estimation approach for object categories which significantly outperforms the state-of-the-art on Pascal3D+. Second, we use the estimated pose as a prior to retrieve 3D models which accurately represent the geometry of objects in RGB images. For this purpose, we render depth images from 3D models under our predicted pose and match learned image descriptors of RGB images against those of rendered depth images using a CNN-based multi-view metric learning approach. In this way, we are the first to report quantitative results for 3D model retrieval on Pascal3D+, where our method chooses the same models as human annotators for 50% of the validation images on average. In addition, we show that our method, which was trained purely on Pascal3D+, retrieves rich and accurate 3D models from ShapeNet given RGB images of objects in the wild.

Key facts. Cited by 31 papers in the map (data through 14 Oct 2026). First posted on arXiv 30 Mar 2018.

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Citing papers per year: 2021: 8; 2022: 12; 2023: 6; 2024: 4; 2025: 0; 2026: 1.

31 papers.

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  1. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  2. 2022Zero-Shot Category-Level Object Pose Estimationcited by 57
  3. 2023NOPE: Novel Object Pose Estimation from a Single Imagecited by 38
  4. 2024SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphscited by 29
  5. 2022CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wildcited by 28
  6. 2022Densely Constrained Depth Estimator for Monocular 3D Object Detectioncited by 27
  7. 2023Adaptive Spot-Guided Transformer for Consistent Local Feature Matchingcited by 22
  8. 2022Point Scene Understanding via Disentangled Instance Mesh Reconstructioncited by 20
  9. 2023Visual Localization using Imperfect 3D Models from the Internetcited by 20
  10. 2021Monte Carlo Scene Search for 3D Scene Understandingcited by 19
  11. 2021PoseContrast: Class-Agnostic Object Viewpoint Estimation in the Wild with Pose-Aware Contrastive Learningcited by 19
  12. 2024Looking 3D: Anomaly Detection with 2D-3D Alignmentcited by 13
19 more
  1. 2021Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videoscited by 9
  2. 2022Automatically Annotating Indoor Images with CAD Models via RGB-D Scanscited by 9
  3. 2023Structured Epipolar Matcher for Local Feature Matchingcited by 8
  4. 2023You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Examplecited by 8
  5. 2022Structure-Aware 3D VR Sketch to 3D Shape Retrievalcited by 7
  6. 2021CORSAIR: Convolutional Object Retrieval and Symmetry-AIded Registrationcited by 5
  7. 2021Semi-supervised Viewpoint Estimation with Geometry-aware Conditional Generationcited by 5
  8. 2022Fine-Grained VR Sketching: Dataset and Insightscited by 5
  9. 2024Unsupervised Learning of Category-Level 3D Pose from Object-Centric Videoscited by 5
  10. 2022Towards 3D VR-Sketch to 3D Shape Retrievalcited by 4
  11. 2022Denoising Multi-Similarity Formulation: A Self-paced Curriculum-Driven Approach for Robust Metric Learningcited by 3
  12. 2022ViewNet: Unsupervised Viewpoint Estimation from Conditional Generationcited by 3
  13. 2023HOC-Search: Efficient CAD Model and Pose Retrieval from RGB-D Scanscited by 3
  14. 20223D-Augmented Contrastive Knowledge Distillation for Image-based Object Pose Estimationcited by 2
  15. 2021Pose Estimation and 3D Reconstruction of Vehicles from Stereo-Images Using a Subcategory-Aware Shape Priorcited by 1
  16. 2021Zero in on Shape: A Generic 2D-3D Instance Similarity Metric learned from Synthetic Datacited by 1
  17. 2022Accidental Turntables: Learning 3D Pose by Watching Objects Turncited by 1
  18. 2024GIMS: Image Matching System Based on Adaptive Graph Construction and Graph Neural Networkcited by 1
  19. 2026Optimizing Multi-Modal Models for Image-Based Shape Retrieval: The Role of Pre-Alignment and Hard Contrastive Learningcited by 0