mlsanityData to 7 Oct 2026

Robust 6D Object Pose Estimation by Learning RGB-D Features

arXiv 2003.00188 ↗First posted 29 Feb 2020cs.CVcited by 25

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Abstract (arXiv)

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of symmetric objects. In this work, we propose a novel discrete-continuous formulation for rotation regression to resolve this local-optimum problem. We uniformly sample rotation anchors in SO(3), and predict a constrained deviation from each anchor to the target, as well as uncertainty scores for selecting the best prediction. Additionally, the object location is detected by aggregating point-wise vectors pointing to the 3D center. Experiments on two benchmarks: LINEMOD and YCB-Video, show that the proposed method outperforms state-of-the-art approaches. Our code is available at https://github.com/mentian/object-posenet.

Key facts. Cited by 25 papers in the map (data through 7 Oct 2026). First posted on arXiv 29 Feb 2020.

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Citing papers per year: 2021: 5; 2022: 6; 2023: 2; 2024: 5; 2025: 5; 2026: 2.

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  1. 2022ClearPose: Large-scale Transparent Object Dataset and Benchmarkcited by 46
  2. 2021StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimationcited by 40
  3. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  4. 20213DP3: 3D Scene Perception via Probabilistic Programmingcited by 26
  5. 2022Sim-to-Real 6D Object Pose Estimation via Iterative Self-training for Robotic Bin Pickingcited by 20
  6. 2024Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulationcited by 19
  7. 2021Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transformscited by 17
  8. 2021Multi-person Implicit Reconstruction from a Single Imagecited by 13
  9. 2022TransNet: Category-Level Transparent Object Pose Estimationcited by 13
  10. 2021Robust Partial-to-Partial Point Cloud Registration in a Full Rangecited by 8
  11. 2022Keypoint Cascade Voting for Point Cloud Based 6DoF Pose Estimationcited by 7
  12. 2023Multi-View Keypoints for Reliable 6D Object Pose Estimationcited by 4
13 more
  1. 2025Active 6D Pose Estimation for Textureless Objects using Multi-View RGB Framescited by 3
  2. 2025Structure-Aware Correspondence Learning for Relative Pose Estimationcited by 3
  3. 2022Category-Level Pose Retrieval with Contrastive Features Learnt with Occlusion Augmentationcited by 2
  4. 2024EasyVis2: A Real Time Multi-view 3D Visualization System for Laparoscopic Surgery Training Enhanced by a Deep Neural Network YOLOv8-Posecited by 2
  5. 2025ZeroBP: Learning Position-Aware Correspondence for Zero-shot 6D Pose Estimation in Bin-Pickingcited by 2
  6. 2022Adversarial samples for deep monocular 6D object pose estimationcited by 1
  7. 2023TransNet: Transparent Object Manipulation Through Category-Level Pose Estimationcited by 1
  8. 2025Instance-Adaptive Keypoint Learning with Local-to-Global Geometric Aggregation for Category-Level Object Pose Estimationcited by 1
  9. 2025Uncertainty Quantification for Visual Object Pose Estimation: S-Lemma Ellipsoidal Boundscited by 1
  10. 2024FastPoseCNN: Real-Time Monocular Category-Level Pose and Size Estimation Frameworkcited by 0
  11. 2024Targeted Hard Sample Synthesis Based on Estimated Pose and Occlusion Error for Improved Object Pose Estimationcited by 0
  12. 2026Detecting Pose Estimation Failures via Keypoint Self-Consistencycited by 0
  13. 2026G6D: Geometric Learning-Free RGB-D 6D Pose Solver for Robotic Manipulationcited by 0