mlsanityData to 7 Oct 2026

Deep Model-Based 6D Pose Refinement in RGB

arXiv 1810.03065 ↗First posted 7 Oct 2018cs.CVcited by 59

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Abstract (arXiv)

We present a novel approach for model-based 6D pose refinement in color data. Building on the established idea of contour-based pose tracking, we teach a deep neural network to predict a translational and rotational update. At the core, we propose a new visual loss that drives the pose update by aligning object contours, thus avoiding the definition of any explicit appearance model. In contrast to previous work our method is correspondence-free, segmentation-free, can handle occlusion and is agnostic to geometrical symmetry as well as visual ambiguities. Additionally, we observe a strong robustness towards rough initialization. The approach can run in real-time and produces pose accuracies that come close to 3D ICP without the need for depth data. Furthermore, our networks are trained from purely synthetic data and will be published together with the refinement code to ensure reproducibility.

Key facts. Cited by 59 papers in the map (data through 7 Oct 2026). First posted on arXiv 7 Oct 2018.

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Citing papers per year: 2021: 16; 2022: 20; 2023: 15; 2024: 6; 2025: 1; 2026: 1.

59 papers.

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  1. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 198
  2. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  3. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  4. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  5. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  6. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  7. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  8. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  9. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  10. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  11. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  12. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
38 more
  1. 2022RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimizationcited by 38
  2. 2022Occlusion-Aware Self-Supervised Monocular 6D Object Pose Estimationcited by 34
  3. 2021Single-view robot pose and joint angle estimation via render & comparecited by 33
  4. 2022Perspective Flow Aggregation for Data-Limited 6D Object Pose Estimationcited by 32
  5. 2022DPODv2: Dense Correspondence-Based 6 DoF Pose Estimationcited by 32
  6. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  7. 2022Iterative Corresponding Geometry: Fusing Region and Depth for Highly Efficient 3D Tracking of Textureless Objectscited by 30
  8. 2024G3R: Gradient Guided Generalizable Reconstructioncited by 29
  9. 2021Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Votingcited by 25
  10. 20236D-Diff: A Keypoint Diffusion Framework for 6D Object Pose Estimationcited by 24
  11. 2022TexPose: Neural Texture Learning for Self-Supervised 6D Object Pose Estimationcited by 23
  12. 2023Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfercited by 23
  13. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  14. 2021ACR-Pose: Adversarial Canonical Representation Reconstruction Network for Category Level 6D Object Pose Estimationcited by 20
  15. 2021DemoGrasp: Few-Shot Learning for Robotic Grasping with Human Demonstrationcited by 20
  16. 2022Sim-to-Real 6D Object Pose Estimation via Iterative Self-training for Robotic Bin Pickingcited by 20
  17. 2021PR-GCN: A Deep Graph Convolutional Network with Point Refinement for 6D Pose Estimationcited by 17
  18. 2022Focal Length and Object Pose Estimation via Render and Comparecited by 17
  19. 2022YOLOPose: Transformer-based Multi-Object 6D Pose Estimation using Keypoint Regressioncited by 17
  20. 2023Shape-Constraint Recurrent Flow for 6D Object Pose Estimationcited by 17
  21. 2021T6D-Direct: Transformers for Multi-Object 6D Pose Direct Regressioncited by 16
  22. 2021PFRL: Pose-Free Reinforcement Learning for 6D Pose Estimationcited by 14
  23. 2021DSC-PoseNet: Learning 6DoF Object Pose Estimation via Dual-scale Consistencycited by 14
  24. 2021Deep Feedback Inverse Problem Solvercited by 11
  25. 2023Diff-DOPE: Differentiable Deep Object Pose Estimationcited by 11
  26. 2024MRC-Net: 6-DoF Pose Estimation with MultiScale Residual Correlationcited by 11
  27. 2025LIFe-GoM: Generalizable Human Rendering with Learned Iterative Feedback Over Multi-Resolution Gaussians-on-Meshcited by 11
  28. 2022Multi-View Object Pose Refinement With Differentiable Renderercited by 8
  29. 2023Fusing Visual Appearance and Geometry for Multi-modality 6DoF Object Trackingcited by 7
  30. 2021Occlusion-Robust Object Pose Estimation with Holistic Representationcited by 6
  31. 2023Linear-Covariance Loss for End-to-End Learning of 6D Pose Estimationcited by 6
  32. 2021VIPose: Real-time Visual-Inertial 6D Object Pose Trackingcited by 5
  33. 2022Photo-realistic Neural Domain Randomizationcited by 5
  34. 20233D Neural Embedding Likelihood: Probabilistic Inverse Graphics for Robust 6D Pose Estimationcited by 5
  35. 2023DTF-Net: Category-Level Pose Estimation and Shape Reconstruction via Deformable Template Fieldcited by 5
  36. 2023YOLOPose V2: Understanding and Improving Transformer-based 6D Pose Estimationcited by 3
  37. 2023Physics-Based Rigid Body Object Tracking and Friction Filtering From RGB-D Videoscited by 3
  38. 2023FocalPose++: Focal Length and Object Pose Estimation via Render and Comparecited by 3

50 most cited of 59 All 59 (JSON)