mlsanityData to 7 Oct 2026

On Object Symmetries and 6D Pose Estimation from Images

arXiv 1908.07640 ↗First posted 20 Aug 2019cs.CVcited by 33

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Abstract (arXiv)

Objects with symmetries are common in our daily life and in industrial contexts, but are often ignored in the recent literature on 6D pose estimation from images. In this paper, we study in an analytical way the link between the symmetries of a 3D object and its appearance in images. We explain why symmetrical objects can be a challenge when training machine learning algorithms that aim at estimating their 6D pose from images. We propose an efficient and simple solution that relies on the normalization of the pose rotation. Our approach is general and can be used with any 6D pose estimation algorithm. Moreover, our method is also beneficial for objects that are 'almost symmetrical', i.e. objects for which only a detail breaks the symmetry. We validate our approach within a Faster-RCNN framework on a synthetic dataset made with objects from the T-Less dataset, which exhibit various types of symmetries, as well as real sequences from T-Less.

Key facts. Cited by 33 papers in the map (data through 7 Oct 2026). First posted on arXiv 20 Aug 2019.

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Citing papers per year: 2021: 7; 2022: 9; 2023: 3; 2024: 4; 2025: 4; 2026: 6.

33 papers.

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  1. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  2. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  3. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  4. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 70
  5. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 69
  6. 2021Deep Regression on Manifolds: A 3D Rotation Case Studycited by 67
  7. 2021Implicit-PDF: Non-Parametric Representation of Probability Distributions on the Rotation Manifoldcited by 65
  8. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 40
  9. 2022DPODv2: Dense Correspondence-Based 6 DoF Pose Estimationcited by 32
  10. 2021PoseContrast: Class-Agnostic Object Viewpoint Estimation in the Wild with Pose-Aware Contrastive Learningcited by 19
  11. 2022ES6D: A Computation Efficient and Symmetry-Aware 6D Pose Regression Frameworkcited by 19
  12. 2024PEGASUS: Physically Enhanced Gaussian Splatting Simulation System for 6DoF Object Pose Dataset Generationcited by 13
21 more
  1. 2025GIVEPose: Gradual Intra-class Variation Elimination for RGB-based Category-Level Object Pose Estimationcited by 5
  2. 2021Towards Deep Learning-based 6D Bin Pose Estimation in 3D Scanscited by 4
  3. 2023SyMFM6D: Symmetry-aware Multi-directional Fusion for Multi-View 6D Object Pose Estimationcited by 4
  4. 2025Symmetry Understanding of 3D Shapes via Chirality Disentanglementcited by 3
  5. 2022Stable Object Reorientation using Contact Plane Registrationcited by 2
  6. 2022CenDerNet: Center and Curvature Representations for Render-and-Compare 6D Pose Estimationcited by 2
  7. 2022Learning Implicit Probability Distribution Functions for Symmetric Orientation Estimation from RGB Images Without Pose Labelscited by 2
  8. 2023RGB-D-Based Categorical Object Pose and Shape Estimation: Methods, Datasets, and Evaluationcited by 2
  9. 2024Alignist: CAD-Informed Orientation Distribution Estimation by Fusing Shape and Correspondencescited by 2
  10. 2022Category-Level 6D Object Pose Estimation with Flexible Vector-Based Rotation Representationcited by 1
  11. 2024Resolving Symmetry Ambiguity in Correspondence-based Methods for Instance-level Object Pose Estimationcited by 1
  12. 2024On Representation of 3D Rotation in the Context of Deep Learningcited by 1
  13. 2026Cov2Pose: Leveraging Spatial Covariance for Direct Manifold-aware 6-DoF Object Pose Estimationcited by 1
  14. 2026Towards Symmetry-sensitive Pose Estimation: A Rotation Representation for Symmetric Object Classescited by 1
  15. 2021Deep Measurement Updates for Bayes Filterscited by 0
  16. 2025DKPMV: Dense Keypoints Fusion from Multi-View RGB Frames for 6D Pose Estimation of Textureless Objectscited by 0
  17. 2025Equivariant symmetry-aware head pose estimation for fetal MRIcited by 0
  18. 2026Detecting 3D Line Segments for 6DoF Pose Estimation with Limited Datacited by 0
  19. 2026Pickalo: Leveraging 6D Pose Estimation for Low-Cost Industrial Bin Pickingcited by 0
  20. 2026Rotational Symmetry based Object Pose Estimation from Point Clouds in the Absence of Known 3D Modelscited by 0
  21. 2026A Geometry-Driven, Framework-Agnostic Optimization for Object Pose Estimationcited by 0