mlsanityData to 7 Oct 2026

Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimation

arXiv 2001.09322 ↗First posted 25 Jan 2020cs.CVcited by 123

Not on the map. Why?

Abstract (arXiv)

We present a novel approach to category-level 6D object pose and size estimation. To tackle intra-class shape variations, we learn canonical shape space (CASS), a unified representation for a large variety of instances of a certain object category. In particular, CASS is modeled as the latent space of a deep generative model of canonical 3D shapes with normalized pose. We train a variational auto-encoder (VAE) for generating 3D point clouds in the canonical space from an RGBD image. The VAE is trained in a cross-category fashion, exploiting the publicly available large 3D shape repositories. Since the 3D point cloud is generated in normalized pose (with actual size), the encoder of the VAE learns view-factorized RGBD embedding. It maps an RGBD image in arbitrary view into a pose-independent 3D shape representation. Object pose is then estimated via contrasting it with a pose-dependent feature of the input RGBD extracted with a separate deep neural networks. We integrate the learning of CASS and pose and size estimation into an end-to-end trainable network, achieving the state-of-the-art performance.

Key facts. Cited by 123 papers in the map (data through 7 Oct 2026). First posted on arXiv 25 Jan 2020.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 22; 2022: 37; 2023: 21; 2024: 20; 2025: 14; 2026: 9.

123 papers.

Sort:

By area:

  1. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 411
  2. 2021Where2Act: From Pixels to Actions for Articulated 3D Objectscited by 179
  3. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  4. 2023BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objectscited by 144
  5. 2022GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Partscited by 135
  6. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  7. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  8. 2024RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videoscited by 113
  9. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  10. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  11. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  12. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 83
38 more
  1. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 70
  2. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  3. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 69
  4. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  5. 2022Zero-Shot Category-Level Object Pose Estimationcited by 57
  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. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 51
  9. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 47
  10. 2023GenPose: Generative Category-level Object Pose Estimation via Diffusion Modelscited by 47
  11. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 47
  12. 2021Leveraging SE(3) Equivariance for Self-Supervised Category-Level Object Pose Estimationcited by 45
  13. 2022PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objectscited by 45
  14. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  15. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  16. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
  17. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  18. 2021Category-Level Metric Scale Object Shape and Pose Estimationcited by 40
  19. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 40
  20. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  21. 2022RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimizationcited by 38
  22. 2022Reconstructing Hand-Held Objects from Monocular Videocited by 35
  23. 2023TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimationcited by 32
  24. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  25. 2022Object Level Depth Reconstruction for Category Level 6D Object Pose Estimation From Monocular RGB Imagecited by 29
  26. 2022CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wildcited by 28
  27. 2022CATRE: Iterative Point Clouds Alignment for Category-level Object Pose Refinementcited by 28
  28. 2021UDA-COPE: Unsupervised Domain Adaptation for Category-level Object Pose Estimationcited by 25
  29. 2021iCaps: Iterative Category-level Object Pose and Shape Estimationcited by 23
  30. 2022Uni6D: A Unified CNN Framework without Projection Breakdown for 6D Pose Estimationcited by 22
  31. 2022Self-Supervised Geometric Correspondence for Category-Level 6D Object Pose Estimation in the Wildcited by 22
  32. 20216D-ViT: Category-Level 6D Object Pose Estimation via Transformer-based Instance Representation Learningcited by 20
  33. 2021ACR-Pose: Adversarial Canonical Representation Reconstruction Network for Category Level 6D Object Pose Estimationcited by 20
  34. 2022Learning 6-DoF Object Poses to Grasp Category-level Objects by Language Instructionscited by 19
  35. 2022Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimationcited by 19
  36. 2022Generative Category-Level Shape and Pose Estimation with Semantic Primitivescited by 19
  37. 2022StereoPose: Category-Level 6D Transparent Object Pose Estimation from Stereo Images via Back-View NOCScited by 18
  38. 2023FSD: Fast Self-Supervised Single RGB-D to Categorical 3D Objectscited by 18

50 most cited of 123 All 123 (JSON)