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PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Tracking

arXiv 1905.09304 ↗First posted 22 May 2019cs.CV cs.ROcited by 91

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Abstract (arXiv)

Tracking 6D poses of objects from videos provides rich information to a robot in performing different tasks such as manipulation and navigation. In this work, we formulate the 6D object pose tracking problem in the Rao-Blackwellized particle filtering framework, where the 3D rotation and the 3D translation of an object are decoupled. This factorization allows our approach, called PoseRBPF, to efficiently estimate the 3D translation of an object along with the full distribution over the 3D rotation. This is achieved by discretizing the rotation space in a fine-grained manner, and training an auto-encoder network to construct a codebook of feature embeddings for the discretized rotations. As a result, PoseRBPF can track objects with arbitrary symmetries while still maintaining adequate posterior distributions. Our approach achieves state-of-the-art results on two 6D pose estimation benchmarks. A video showing the experiments can be found at https://youtu.be/lE5gjzRKWuA

Key facts. Cited by 91 papers in the map (data through 14 Oct 2026). First posted on arXiv 22 May 2019.

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Citing papers per year: 2019: 1; 2020: 0; 2021: 22; 2022: 19; 2023: 16; 2024: 13; 2025: 13; 2026: 7.

91 papers.

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  1. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 429
  2. 2021Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenescited by 218
  3. 2022RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wildcited by 102
  4. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  5. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  6. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 84
  7. 2022You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstrationcited by 81
  8. 2023Visibility Aware Human-Object Interaction Tracking from Single RGB Cameracited by 58
  9. 2022Parallel Inversion of Neural Radiance Fields for Robust Pose Estimationcited by 55
  10. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  11. 2021SORNet: Spatial Object-Centric Representations for Sequential Manipulationcited by 48
  12. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
38 more
  1. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  2. 2022Iterative Corresponding Geometry: Fusing Region and Depth for Highly Efficient 3D Tracking of Textureless Objectscited by 30
  3. 2024HO-Cap: A Capture System and Dataset for 3D Reconstruction and Pose Tracking of Hand-Object Interactioncited by 29
  4. 20213DP3: 3D Scene Perception via Probabilistic Programmingcited by 26
  5. 2021iCaps: Iterative Category-level Object Pose and Shape Estimationcited by 23
  6. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  7. 2021SRT3D: A Sparse Region-Based 3D Object Tracking Approach for the Real Worldcited by 19
  8. 2022Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimationcited by 19
  9. 2022Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wildcited by 17
  10. 2024Adapting Pre-Trained Vision Models for Novel Instance Detection and Segmentationcited by 17
  11. 2022Tac2Pose: Tactile Object Pose Estimation from the First Touchcited by 15
  12. 2022PIZZA: A Powerful Image-only Zero-Shot Zero-CAD Approach to 6 DoF Trackingcited by 15
  13. 2023SpyroPose: SE(3) Pyramids for Object Pose Distribution Estimationcited by 14
  14. 2021Learning Perceptual Concepts by Bootstrapping from Human Queriescited by 12
  15. 2023PACE: A Large-Scale Dataset with Pose Annotations in Cluttered Environmentscited by 11
  16. 20246DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splattingcited by 11
  17. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integrationcited by 11
  18. 2021ROFT: Real-Time Optical Flow-Aided 6D Object Pose and Velocity Trackingcited by 10
  19. 2023Collision-aware In-hand 6D Object Pose Estimation using Multiple Vision-based Tactile Sensorscited by 10
  20. 2025GoTrack: Generic 6DoF Object Pose Refinement and Trackingcited by 10
  21. 2023Multi-Object Manipulation via Object-Centric Neural Scattering Functionscited by 9
  22. 2023SCENEREPLICA: Benchmarking Real-World Robot Manipulation by Creating Replicable Scenescited by 9
  23. 2024Uncertainty Quantification with Deep Ensembles for 6D Object Pose Estimationcited by 9
  24. 2022NARF22: Neural Articulated Radiance Fields for Configuration-Aware Renderingcited by 8
  25. 2023Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priorscited by 8
  26. 2021Improving Safety in Deep Reinforcement Learning using Unsupervised Action Planningcited by 7
  27. 2022Large-displacement 3D Object Tracking with Hybrid Non-local Optimizationcited by 7
  28. 2022Ki-Pode: Keypoint-based Implicit Pose Distribution Estimation of Rigid Objectscited by 7
  29. 2023Fusing Visual Appearance and Geometry for Multi-modality 6DoF Object Trackingcited by 7
  30. 2019Motion Reasoning for Goal-Based Imitation Learningcited by 6
  31. 2022Ambiguity-Aware Multi-Object Pose Optimization for Visually-Assisted Robot Manipulationcited by 6
  32. 2021Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domainscited by 5
  33. 2021VIPose: Real-time Visual-Inertial 6D Object Pose Trackingcited by 5
  34. 2022Enhancing Generalizable 6D Pose Tracking of an In-Hand Object with Tactile Sensingcited by 5
  35. 2022Video based Object 6D Pose Estimation using Transformerscited by 5
  36. 20233D Neural Embedding Likelihood: Probabilistic Inverse Graphics for Robust 6D Pose Estimationcited by 5
  37. 2025V-HOP: Visuo-Haptic 6D Object Pose Trackingcited by 5
  38. 2025DynamicPose: Real-time and Robust 6D Object Pose Tracking for Fast-Moving Cameras and Objectscited by 5

50 most cited of 91 All 91 (JSON)