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DeepIM: Deep Iterative Matching for 6D Pose Estimation

arXiv 1804.00175 ↗First posted 31 Mar 2018cs.CV cs.ROcited by 283

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Abstract (arXiv)

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images of an object against the observed image can produce accurate results. In this work, we propose a novel deep neural network for 6D pose matching named DeepIM. Given an initial pose estimation, our network is able to iteratively refine the pose by matching the rendered image against the observed image. The network is trained to predict a relative pose transformation using an untangled representation of 3D location and 3D orientation and an iterative training process. Experiments on two commonly used benchmarks for 6D pose estimation demonstrate that DeepIM achieves large improvements over state-of-the-art methods. We furthermore show that DeepIM is able to match previously unseen objects.

Key facts. Cited by 283 papers in the map (data through 7 Oct 2026). First posted on arXiv 31 Mar 2018.

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Citing papers per year: 2021: 52; 2022: 76; 2023: 51; 2024: 46; 2025: 37; 2026: 21.

283 papers.

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  1. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 411
  2. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 320
  3. 2021H2O: Two Hands Manipulating Objects for First Person Interaction Recognitioncited by 251
  4. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 198
  5. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 155
  6. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  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. 2022GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Partscited by 135
  10. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  11. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 113
  12. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
38 more
  1. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  2. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  3. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  4. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  5. 2022Beyond Cross-view Image Retrieval: Highly Accurate Vehicle Localization Using Satellite Imagecited by 88
  6. 20226-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmarkcited by 85
  7. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 83
  8. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  9. 2021RePOSE: Fast 6D Object Pose Refinement via Deep Texture Renderingcited by 63
  10. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  11. 2022AlignSDF: Pose-Aligned Signed Distance Fields for Hand-Object Reconstructioncited by 58
  12. 2023Visibility Aware Human-Object Interaction Tracking from Single RGB Cameracited by 58
  13. 2021Towards unconstrained joint hand-object reconstruction from RGB videoscited by 57
  14. 2022NeRF-Pose: A First-Reconstruct-Then-Regress Approach for Weakly-supervised 6D Object Pose Estimationcited by 57
  15. 2022Parallel Inversion of Neural Radiance Fields for Robust Pose Estimationcited by 55
  16. 2023CamP: Camera Preconditioning for Neural Radiance Fieldscited by 55
  17. 2022Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusionscited by 54
  18. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  19. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 51
  20. 2021Wide-Baseline Relative Camera Pose Estimation with Directional Learningcited by 49
  21. 2021SORNet: Spatial Object-Centric Representations for Sequential Manipulationcited by 48
  22. 2022Coupled Iterative Refinement for 6D Multi-Object Pose Estimationcited by 48
  23. 2022TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulationcited by 47
  24. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 47
  25. 2021Wide-Depth-Range 6D Object Pose Estimation in Spacecited by 45
  26. 2023ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformerscited by 45
  27. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  28. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  29. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
  30. 2022IFOR: Iterative Flow Minimization for Robotic Object Rearrangementcited by 42
  31. 2021NeMo: Neural Mesh Models of Contrastive Features for Robust 3D Pose Estimationcited by 41
  32. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  33. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 40
  34. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  35. 2022RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimizationcited by 38
  36. 2023NOPE: Novel Object Pose Estimation from a Single Imagecited by 38
  37. 2022Occlusion-Aware Self-Supervised Monocular 6D Object Pose Estimationcited by 34
  38. 2021Single-view robot pose and joint angle estimation via render & comparecited by 33

50 most cited of 283 All 283 (JSON)