# L6DNet: Light 6 DoF Network for Robust and Precise Object Pose Estimation with Small Datasets

arXiv: https://arxiv.org/abs/2002.00911 · HTML: https://mlsanity.com/paper/2002.00911/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Feb 2020.

## Built on by (most cited first, 5 of 5)

- [Vision-based Neural Scene Representations for Spacecraft](https://mlsanity.com/paper/2105.06405/) (2021)
- [S3LAM: Structured Scene SLAM](https://mlsanity.com/paper/2109.07339/) (2021)
- [TwistSLAM++: Fusing multiple modalities for accurate dynamic semantic SLAM](https://mlsanity.com/paper/2209.07888/) (2022)
- [A Novel Augmented Reality Ultrasound Framework Using an RGB-D Camera and a 3D-printed Marker](https://mlsanity.com/paper/2205.04350/) (2022)
- [Towards Two-view 6D Object Pose Estimation: A Comparative Study on Fusion Strategy](https://mlsanity.com/paper/2207.00260/) (2022)

## Abstract (arXiv)

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image. We adopt a hybrid pipeline in two stages: data-driven and geometric respectively. The data-driven step consists of a classification CNN to estimate the object 2D location in the image from local patches, followed by a regression CNN trained to predict the 3D location of a set of keypoints in the camera coordinate system. To extract the pose information, the geometric step consists in aligning the 3D points in the camera coordinate system with the corresponding 3D points in world coordinate system by minimizing a registration error, thus computing the pose. Our experiments on the standard dataset LineMod show that our approach is more robust and accurate than state-of-the-art methods. The approach is also validated to achieve a 6 DoF positioning task by visual servoing.