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DPOD: 6D Pose Object Detector and Refiner

arXiv 1902.11020 ↗First posted 28 Feb 2019cs.CV cs.ROcited by 189

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Abstract (arXiv)

In this paper we present a novel deep learning method for 3D object detection and 6D pose estimation from RGB images. Our method, named DPOD (Dense Pose Object Detector), estimates dense multi-class 2D-3D correspondence maps between an input image and available 3D models. Given the correspondences, a 6DoF pose is computed via PnP and RANSAC. An additional RGB pose refinement of the initial pose estimates is performed using a custom deep learning-based refinement scheme. Our results and comparison to a vast number of related works demonstrate that a large number of correspondences is beneficial for obtaining high-quality 6D poses both before and after refinement. Unlike other methods that mainly use real data for training and do not train on synthetic renderings, we perform evaluation on both synthetic and real training data demonstrating superior results before and after refinement when compared to all recent detectors. While being precise, the presented approach is still real-time capable.

Key facts. Cited by 189 papers in the map (data through 7 Oct 2026). First posted on arXiv 28 Feb 2019.

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Citing papers per year: 2021: 39; 2022: 58; 2023: 40; 2024: 24; 2025: 19; 2026: 9.

189 papers.

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  1. 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 306
  2. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 198
  3. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  4. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  5. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  6. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  7. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  8. 2023OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Modelscited by 114
  9. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 113
  10. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  11. 20226-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmarkcited by 85
  12. 2021MonoRUn: Monocular 3D Object Detection by Reconstruction and Uncertainty Propagationcited by 82
38 more
  1. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  2. 2023EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for Monocular Object Pose Estimationcited by 79
  3. 2023BOP Challenge 2022 on Detection, Segmentation and Pose Estimation of Specific Rigid Objectscited by 70
  4. 2021RePOSE: Fast 6D Object Pose Refinement via Deep Texture Renderingcited by 63
  5. 2023MFT: Long-Term Tracking of Every Pixelcited by 61
  6. 2024BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objectscited by 60
  7. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  8. 2022NeRF-Pose: A First-Reconstruct-Then-Regress Approach for Weakly-supervised 6D Object Pose Estimationcited by 57
  9. 2022Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusionscited by 54
  10. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  11. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 52
  12. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 47
  13. 2021Wide-Depth-Range 6D Object Pose Estimation in Spacecited by 45
  14. 2022PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objectscited by 45
  15. 2023ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformerscited by 45
  16. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  17. 2021NeMo: Neural Mesh Models of Contrastive Features for Robust 3D Pose Estimationcited by 41
  18. 2021GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completioncited by 41
  19. 2021Category-Level Metric Scale Object Shape and Pose Estimationcited by 40
  20. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  21. 2022RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimizationcited by 38
  22. 2023NOPE: Novel Object Pose Estimation from a Single Imagecited by 38
  23. 2022Occlusion-Aware Self-Supervised Monocular 6D Object Pose Estimationcited by 34
  24. 2021Single-view robot pose and joint angle estimation via render & comparecited by 33
  25. 2023Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagationcited by 33
  26. 2022Perspective Flow Aggregation for Data-Limited 6D Object Pose Estimationcited by 32
  27. 2022DPODv2: Dense Correspondence-Based 6 DoF Pose Estimationcited by 32
  28. 2023SE(3) Diffusion Model-based Point Cloud Registration for Robust 6D Object Pose Estimationcited by 32
  29. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  30. 2023POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Referencecited by 30
  31. 2022Object Level Depth Reconstruction for Category Level 6D Object Pose Estimation From Monocular RGB Imagecited by 29
  32. 2024MatchU: Matching Unseen Objects for 6D Pose Estimation from RGB-D Imagescited by 28
  33. 2021Self-supervised Geometric Perceptioncited by 26
  34. 2021Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Votingcited by 25
  35. 20236D-Diff: A Keypoint Diffusion Framework for 6D Object Pose Estimationcited by 24
  36. 2021ReAgent: Point Cloud Registration using Imitation and Reinforcement Learningcited by 23
  37. 2022TexPose: Neural Texture Learning for Self-Supervised 6D Object Pose Estimationcited by 23
  38. 2022Uni6D: A Unified CNN Framework without Projection Breakdown for 6D Pose Estimationcited by 22

50 most cited of 189 All 189 (JSON)