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Category-Level Articulated Object Pose Estimation

arXiv 1912.11913 ↗First posted 26 Dec 2019cs.CV cs.AI cs.ROcited by 158

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Abstract (arXiv)

This project addresses the task of category-level pose estimation for articulated objects from a single depth image. We present a novel category-level approach that correctly accommodates object instances previously unseen during training. We introduce Articulation-aware Normalized Coordinate Space Hierarchy (ANCSH) - a canonical representation for different articulated objects in a given category. As the key to achieve intra-category generalization, the representation constructs a canonical object space as well as a set of canonical part spaces. The canonical object space normalizes the object orientation,scales and articulations (e.g. joint parameters and states) while each canonical part space further normalizes its part pose and scale. We develop a deep network based on PointNet++ that predicts ANCSH from a single depth point cloud, including part segmentation, normalized coordinates, and joint parameters in the canonical object space. By leveraging the canonicalized joints, we demonstrate: 1) improved performance in part pose and scale estimations using the induced kinematic constraints from joints; 2) high accuracy for joint parameter estimation in camera space.

Key facts. Cited by 158 papers in the map (data through 7 Oct 2026). First posted on arXiv 26 Dec 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 28; 2022: 29; 2023: 25; 2024: 24; 2025: 31; 2026: 21.

158 papers.

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  1. 2022HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interactioncited by 321
  2. 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 306
  3. 2021Vector Neurons: A General Framework for SO(3)-Equivariant Networkscited by 304
  4. 2021ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrationscited by 193
  5. 2021Where2Act: From Pixels to Actions for Articulated 3D Objectscited by 179
  6. 2022Ditto: Building Digital Twins of Articulated Objects from Interactioncited by 152
  7. 2021Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Timecited by 140
  8. 2022GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Partscited by 135
  9. 2024ShapeLLM: Universal 3D Object Understanding for Embodied Interactioncited by 133
  10. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  11. 2023PARIS: Part-level Reconstruction and Motion Analysis for Articulated Objectscited by 115
  12. 2021A-SDF: Learning Disentangled Signed Distance Functions for Articulated Shape Representationcited by 113
38 more
  1. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  2. 2022FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objectscited by 91
  3. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 83
  4. 2022AKB-48: A Real-World Articulated Object Knowledge Basecited by 81
  5. 2021VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objectscited by 78
  6. 2021JoinABLe: Learning Bottom-up Assembly of Parametric CAD Jointscited by 77
  7. 2021ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesiscited by 76
  8. 2022Full-Body Articulated Human-Object Interactioncited by 76
  9. 2025ArtGS: Building Interactable Replicas of Complex Articulated Objects via Gaussian Splattingcited by 67
  10. 2021UMPNet: Universal Manipulation Policy Network for Articulated Objectscited by 64
  11. 2023CARTO: Category and Joint Agnostic Reconstruction of ARTiculated Objectscited by 64
  12. 2023DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objectscited by 64
  13. 2024Real2Code: Reconstruct Articulated Objects via Code Generationcited by 64
  14. 2022CLA-NeRF: Category-Level Articulated Neural Radiance Fieldcited by 55
  15. 2023CAMS: CAnonicalized Manipulation Spaces for Category-Level Functional Hand-Object Manipulation Synthesiscited by 54
  16. 2022OPD: Single-view 3D Openable Part Detectioncited by 52
  17. 2021Human Hands as Probes for Interactive Object Understandingcited by 51
  18. 2022Self-supervised Neural Articulated Shape and Appearance Modelscited by 51
  19. 2024Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstructioncited by 51
  20. 2023CAGE: Controllable Articulation GEnerationcited by 50
  21. 2021MultiBodySync: Multi-Body Segmentation and Motion Estimation via 3D Scan Synchronizationcited by 46
  22. 2021Act the Part: Learning Interaction Strategies for Articulated Object Part Discoverycited by 45
  23. 2021Leveraging SE(3) Equivariance for Self-Supervised Category-Level Object Pose Estimationcited by 45
  24. 2024REACTO: Reconstructing Articulated Objects from a Single Videocited by 45
  25. 2021Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulationcited by 44
  26. 2021GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completioncited by 41
  27. 2025Articulate AnyMesh: Open-Vocabulary 3D Articulated Objects Modelingcited by 41
  28. 2023Ditto in the House: Building Articulation Models of Indoor Scenes through Interactive Perceptioncited by 40
  29. 2021Towards Real-World Category-level Articulation Pose Estimationcited by 39
  30. 2021D3D-HOI: Dynamic 3D Human-Object Interactions from Videoscited by 39
  31. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  32. 2023OPDMulti: Openable Part Detection for Multiple Objectscited by 38
  33. 2022Understanding 3D Object Articulation in Internet Videoscited by 36
  34. 2025ArticulatedGS: Self-supervised Digital Twin Modeling of Articulated Objects using 3D Gaussian Splattingcited by 35
  35. 2023Building Rearticulable Models for Arbitrary 3D Objects from 4D Point Cloudscited by 34
  36. 2021Single-view robot pose and joint angle estimation via render & comparecited by 33
  37. 2023Understanding 3D Object Interaction from a Single Imagecited by 33
  38. 2023Where2Explore: Few-shot Affordance Learning for Unseen Novel Categories of Articulated Objectscited by 33

50 most cited of 158 All 158 (JSON)