mlsanityData to 14 Oct 2026

6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints

arXiv 1910.10750 ↗First posted 23 Oct 2019cs.CV cs.ROcited by 78

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Abstract (arXiv)

We present 6-PACK, a deep learning approach to category-level 6D object pose tracking on RGB-D data. Our method tracks in real-time novel object instances of known object categories such as bowls, laptops, and mugs. 6-PACK learns to compactly represent an object by a handful of 3D keypoints, based on which the interframe motion of an object instance can be estimated through keypoint matching. These keypoints are learned end-to-end without manual supervision in order to be most effective for tracking. Our experiments show that our method substantially outperforms existing methods on the NOCS category-level 6D pose estimation benchmark and supports a physical robot to perform simple vision-based closed-loop manipulation tasks. Our code and video are available at https://sites.google.com/view/6packtracking.

Key facts. Cited by 78 papers in the map (data through 14 Oct 2026). First posted on arXiv 23 Oct 2019.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 15; 2022: 27; 2023: 16; 2024: 6; 2025: 8; 2026: 6.

78 papers.

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  1. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 429
  2. 2022HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interactioncited by 327
  3. 2023BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objectscited by 148
  4. 2022GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Partscited by 139
  5. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  6. 20213D Neural Scene Representations for Visuomotor Controlcited by 111
  7. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  8. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  9. 20226-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmarkcited by 86
  10. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 84
  11. 2022You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstrationcited by 81
  12. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 72
38 more
  1. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 70
  2. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  3. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  4. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 49
  5. 2023GenPose: Generative Category-level Object Pose Estimation via Diffusion Modelscited by 48
  6. 2021Leveraging SE(3) Equivariance for Self-Supervised Category-Level Object Pose Estimationcited by 45
  7. 2022Visual Reinforcement Learning with Self-Supervised 3D Representationscited by 45
  8. 2022Neural Shape Mating: Self-Supervised Object Assembly with Adversarial Shape Priorscited by 43
  9. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  10. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  11. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 41
  12. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  13. 2021Towards Real-World Category-level Articulation Pose Estimationcited by 39
  14. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  15. 2022ConDor: Self-Supervised Canonicalization of 3D Pose for Partial Shapescited by 31
  16. 2022Iterative Corresponding Geometry: Fusing Region and Depth for Highly Efficient 3D Tracking of Textureless Objectscited by 30
  17. 2022CATRE: Iterative Point Clouds Alignment for Category-level Object Pose Refinementcited by 29
  18. 2022USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for Generalizable Manipulationcited by 27
  19. 2021iCaps: Iterative Category-level Object Pose and Shape Estimationcited by 23
  20. 2022Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimationcited by 19
  21. 2022Generative Category-Level Shape and Pose Estimation with Semantic Primitivescited by 19
  22. 2021Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transformscited by 17
  23. 2021Co-GAIL: Learning Diverse Strategies for Human-Robot Collaborationcited by 17
  24. 2021Sparse Steerable Convolutions: An Efficient Learning of SE(3)-Equivariant Features for Estimation and Tracking of Object Poses in 3D Spacecited by 17
  25. 2022Fusing Local Similarities for Retrieval-based 3D Orientation Estimation of Unseen Objectscited by 17
  26. 2022Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wildcited by 17
  27. 2023A Universal Semantic-Geometric Representation for Robotic Manipulationcited by 16
  28. 2022PIZZA: A Powerful Image-only Zero-Shot Zero-CAD Approach to 6 DoF Trackingcited by 15
  29. 2023SOCS: Semantically-aware Object Coordinate Space for Category-Level 6D Object Pose Estimation under Large Shape Variationscited by 13
  30. 2021Learning Perceptual Concepts by Bootstrapping from Human Queriescited by 12
  31. 2023PACE: A Large-Scale Dataset with Pose Annotations in Cluttered Environmentscited by 11
  32. 2024Omni6D: Large-Vocabulary 3D Object Dataset for Category-Level 6D Object Pose Estimationcited by 11
  33. 20246DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splattingcited by 11
  34. 2025GoTrack: Generic 6DoF Object Pose Refinement and Trackingcited by 10
  35. 2023You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Examplecited by 8
  36. 2022Semantic keypoint-based pose estimation from single RGB framescited by 7
  37. 2022Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypointscited by 7
  38. 2023Hierarchical Graph Neural Networks for Proprioceptive 6D Pose Estimation of In-hand Objectscited by 6

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