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DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion

arXiv 1901.04780 ↗First posted 15 Jan 2019cs.CV cs.ROcited by 352

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Abstract (arXiv)

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly post-processing steps, limiting their performances in highly cluttered scenes and real-time applications. In this work, we present DenseFusion, a generic framework for estimating 6D pose of a set of known objects from RGB-D images. DenseFusion is a heterogeneous architecture that processes the two data sources individually and uses a novel dense fusion network to extract pixel-wise dense feature embedding, from which the pose is estimated. Furthermore, we integrate an end-to-end iterative pose refinement procedure that further improves the pose estimation while achieving near real-time inference. Our experiments show that our method outperforms state-of-the-art approaches in two datasets, YCB-Video and LineMOD. We also deploy our proposed method to a real robot to grasp and manipulate objects based on the estimated pose.

Key facts. Cited by 352 papers in the map (data through 7 Oct 2026). First posted on arXiv 15 Jan 2019.

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Citing papers per year: 2021: 58; 2022: 93; 2023: 71; 2024: 43; 2025: 58; 2026: 29.

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  1. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 320
  2. 2021H2O: Two Hands Manipulating Objects for First Person Interaction Recognitioncited by 251
  3. 2021ReStyle: A Residual-Based StyleGAN Encoder via Iterative Refinementcited by 248
  4. 2021Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenescited by 213
  5. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 198
  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. 2022GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Partscited by 135
  9. 2021SAT: 2D Semantics Assisted Training for 3D Visual Groundingcited by 124
  10. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  11. 2021Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objectscited by 119
  12. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 115
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  1. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  2. 2022RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wildcited by 102
  3. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  4. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  5. 2021Q-attention: Enabling Efficient Learning for Vision-based Robotic Manipulationcited by 85
  6. 20226-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmarkcited by 85
  7. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  8. 2022Full-Body Articulated Human-Object Interactioncited by 76
  9. 2022Category-Level 6D Object Pose and Size Estimation using Self-Supervised Deep Prior Deformation Networkscited by 73
  10. 2022Dynamic Spatial Propagation Network for Depth Completioncited by 70
  11. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 70
  12. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  13. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 69
  14. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  15. 2023FreeZe: Training-free zero-shot 6D pose estimation with geometric and vision foundation modelscited by 56
  16. 2022Parallel Inversion of Neural Radiance Fields for Robust Pose Estimationcited by 55
  17. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  18. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 52
  19. 2021EPNet++: Cascade Bi-directional Fusion for Multi-Modal 3D Object Detectioncited by 49
  20. 2022Look Closer: Bridging Egocentric and Third-Person Views with Transformers for Robotic Manipulationcited by 49
  21. 2024Omni6DPose: A Benchmark and Model for Universal 6D Object Pose Estimation and Trackingcited by 48
  22. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 47
  23. 2022ClearPose: Large-scale Transparent Object Dataset and Benchmarkcited by 46
  24. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  25. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  26. 2023Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulationcited by 43
  27. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
  28. 2022IFOR: Iterative Flow Minimization for Robotic Object Rearrangementcited by 42
  29. 2021GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completioncited by 41
  30. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  31. 2022Look Around and Refer: 2D Synthetic Semantics Knowledge Distillation for 3D Visual Groundingcited by 41
  32. 2024Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimationcited by 41
  33. 2021Tangent Space Backpropagation for 3D Transformation Groupscited by 40
  34. 2021StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimationcited by 40
  35. 2023VI-Net: Boosting Category-level 6D Object Pose Estimation via Learning Decoupled Rotations on the Spherical Representationscited by 40
  36. 2021Towards Real-World Category-level Articulation Pose Estimationcited by 39
  37. 2021Seeing Glass: Joint Point Cloud and Depth Completion for Transparent Objectscited by 39
  38. 2024Learning with 3D rotations, a hitchhiker's guide to SO(3)cited by 39

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