mlsanityData to 7 Oct 2026

MobilePose: Real-Time Pose Estimation for Unseen Objects with Weak Shape Supervision

arXiv 2003.03522 ↗First posted 7 Mar 2020cs.CVcited by 16

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Abstract (arXiv)

In this paper, we address the problem of detecting unseen objects from RGB images and estimating their poses in 3D. We propose two mobile friendly networks: MobilePose-Base and MobilePose-Shape. The former is used when there is only pose supervision, and the latter is for the case when shape supervision is available, even a weak one. We revisit shape features used in previous methods, including segmentation and coordinate map. We explain when and why pixel-level shape supervision can improve pose estimation. Consequently, we add shape prediction as an intermediate layer in the MobilePose-Shape, and let the network learn pose from shape. Our models are trained on mixed real and synthetic data, with weak and noisy shape supervision. They are ultra lightweight that can run in real-time on modern mobile devices (e.g. 36 FPS on Galaxy S20). Comparing with previous single-shot solutions, our method has higher accuracy, while using a significantly smaller model (2~3% in model size or number of parameters).

Key facts. Cited by 16 papers in the map (data through 7 Oct 2026). First posted on arXiv 7 Mar 2020.

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Citing papers per year: 2021: 5; 2022: 8; 2023: 3.

16 papers.

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  1. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  2. 2022Parallel Inversion of Neural Radiance Fields for Robust Pose Estimationcited by 55
  3. 2023HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructionscited by 47
  4. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
  5. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  6. 2023A Survey on Deep Learning-Based Monocular Spacecraft Pose Estimation: Current State, Limitations and Prospectscited by 30
  7. 2022Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimationcited by 19
  8. 2021SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereocited by 18
  9. 2021Real-Time, Flight-Ready, Non-Cooperative Spacecraft Pose Estimation Using Monocular Imagerycited by 15
  10. 2021Optimal Pose and Shape Estimation for Category-level 3D Object Perceptioncited by 15
  11. 2022COPE: End-to-end trainable Constant Runtime Object Pose Estimationcited by 10
  12. 2023Self-supervised Vision Transformers for 3D Pose Estimation of Novel Objectscited by 9
4 more
  1. 2022Semantic keypoint-based pose estimation from single RGB framescited by 7
  2. 2022Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypointscited by 6
  3. 2022CASAPose: Class-Adaptive and Semantic-Aware Multi-Object Pose Estimationcited by 2
  4. 2022A Flexible-Frame-Rate Vision-Aided Inertial Object Tracking System for Mobile Devicescited by 0