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PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation

arXiv 1911.04231 ↗First posted 11 Nov 2019cs.CV cs.ROcited by 204

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Abstract (arXiv)

In this work, we present a novel data-driven method for robust 6DoF object pose estimation from a single RGBD image. Unlike previous methods that directly regressing pose parameters, we tackle this challenging task with a keypoint-based approach. Specifically, we propose a deep Hough voting network to detect 3D keypoints of objects and then estimate the 6D pose parameters within a least-squares fitting manner. Our method is a natural extension of 2D-keypoint approaches that successfully work on RGB based 6DoF estimation. It allows us to fully utilize the geometric constraint of rigid objects with the extra depth information and is easy for a network to learn and optimize. Extensive experiments were conducted to demonstrate the effectiveness of 3D-keypoint detection in the 6D pose estimation task. Experimental results also show our method outperforms the state-of-the-art methods by large margins on several benchmarks. Code and video are available at https://github.com/ethnhe/PVN3D.git.

Key facts. Cited by 204 papers in the map (data through 7 Oct 2026). First posted on arXiv 11 Nov 2019.

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Citing papers per year: 2021: 33; 2022: 58; 2023: 44; 2024: 25; 2025: 31; 2026: 13.

204 papers.

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  1. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 411
  2. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videoscited by 194
  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. 2021PointDSC: Robust Point Cloud Registration using Deep Spatial Consistencycited by 142
  6. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  7. 2024Track2Act: Predicting Point Tracks from Internet Videos enables Generalizable Robot Manipulationcited by 116
  8. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 115
  9. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  10. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  11. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  12. 2022Full-Body Articulated Human-Object Interactioncited by 76
38 more
  1. 2022Category-Level 6D Object Pose and Size Estimation using Self-Supervised Deep Prior Deformation Networkscited by 73
  2. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  3. 2021Deep Regression on Manifolds: A 3D Rotation Case Studycited by 67
  4. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  5. 2022Parallel Inversion of Neural Radiance Fields for Robust Pose Estimationcited by 55
  6. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  7. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 52
  8. 2023Towards Generalizable Zero-Shot Manipulation via Translating Human Interaction Planscited by 51
  9. 2022Domain Randomization-Enhanced Depth Simulation and Restoration for Perceiving and Grasping Specular and Transparent Objectscited by 49
  10. 2023Zero-Shot Robot Manipulation from Passive Human Videoscited by 49
  11. 2022Coupled Iterative Refinement for 6D Multi-Object Pose Estimationcited by 48
  12. 2022TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulationcited by 47
  13. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 47
  14. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 47
  15. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  16. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  17. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  18. 2024Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimationcited by 41
  19. 2021StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimationcited by 40
  20. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 40
  21. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  22. 2021RGB Matters: Learning 7-DoF Grasp Poses on Monocular RGBD Imagescited by 38
  23. 2022RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimizationcited by 38
  24. 2025Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrationscited by 33
  25. 2021SuctionNet-1Billion: A Large-Scale Benchmark for Suction Graspingcited by 32
  26. 2022DPODv2: Dense Correspondence-Based 6 DoF Pose Estimationcited by 32
  27. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  28. 2022Frame Mining: a Free Lunch for Learning Robotic Manipulation from 3D Point Cloudscited by 31
  29. 2022Iterative Corresponding Geometry: Fusing Region and Depth for Highly Efficient 3D Tracking of Textureless Objectscited by 30
  30. 2021VS-Net: Voting with Segmentation for Visual Localizationcited by 29
  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. 2021Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Votingcited by 25
  34. 2021UDA-COPE: Unsupervised Domain Adaptation for Category-level Object Pose Estimationcited by 25
  35. 2022Refine-Net: Normal Refinement Neural Network for Noisy Point Cloudscited by 23
  36. 2022Robust Category-Level 6D Pose Estimation with Coarse-to-Fine Rendering of Neural Featurescited by 23
  37. 2022Uni6D: A Unified CNN Framework without Projection Breakdown for 6D Pose Estimationcited by 22
  38. 2022Self-Supervised Geometric Correspondence for Category-Level 6D Object Pose Estimation in the Wildcited by 22

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