mlsanityData to 7 Oct 2026

EPOS: Estimating 6D Pose of Objects with Symmetries

arXiv 2004.00605 ↗First posted 1 Apr 2020cs.CV cs.LG cs.ROcited by 147

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Abstract (arXiv)

We present a new method for estimating the 6D pose of rigid objects with available 3D models from a single RGB input image. The method is applicable to a broad range of objects, including challenging ones with global or partial symmetries. An object is represented by compact surface fragments which allow handling symmetries in a systematic manner. Correspondences between densely sampled pixels and the fragments are predicted using an encoder-decoder network. At each pixel, the network predicts: (i) the probability of each object's presence, (ii) the probability of the fragments given the object's presence, and (iii) the precise 3D location on each fragment. A data-dependent number of corresponding 3D locations is selected per pixel, and poses of possibly multiple object instances are estimated using a robust and efficient variant of the PnP-RANSAC algorithm. In the BOP Challenge 2019, the method outperforms all RGB and most RGB-D and D methods on the T-LESS and LM-O datasets. On the YCB-V dataset, it is superior to all competitors, with a large margin over the second-best RGB method. Source code is at: cmp.felk.cvut.cz/epos.

Key facts. Cited by 147 papers in the map (data through 7 Oct 2026). First posted on arXiv 1 Apr 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 16; 2022: 40; 2023: 34; 2024: 28; 2025: 19; 2026: 10.

147 papers.

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  1. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  2. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  3. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  4. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  5. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  6. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  7. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  8. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  9. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  10. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 70
  11. 2023BOP Challenge 2022 on Detection, Segmentation and Pose Estimation of Specific Rigid Objectscited by 70
  12. 2024BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objectscited by 60
38 more
  1. 2022NeRF-Pose: A First-Reconstruct-Then-Regress Approach for Weakly-supervised 6D Object Pose Estimationcited by 57
  2. 2022Coupled Iterative Refinement for 6D Multi-Object Pose Estimationcited by 48
  3. 2023ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformerscited by 45
  4. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  5. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  6. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  7. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  8. 2022RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimizationcited by 38
  9. 2023Among Us: Adversarially Robust Collaborative Perception by Consensuscited by 37
  10. 2022Occlusion-Aware Self-Supervised Monocular 6D Object Pose Estimationcited by 34
  11. 2023Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagationcited by 33
  12. 2022Perspective Flow Aggregation for Data-Limited 6D Object Pose Estimationcited by 32
  13. 2022DPODv2: Dense Correspondence-Based 6 DoF Pose Estimationcited by 32
  14. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  15. 2023POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Referencecited by 30
  16. 2024SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphscited by 29
  17. 2022CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wildcited by 28
  18. 2021Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Votingcited by 25
  19. 20236D-Diff: A Keypoint Diffusion Framework for 6D Object Pose Estimationcited by 24
  20. 2024DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimationcited by 24
  21. 2022Uni6D: A Unified CNN Framework without Projection Breakdown for 6D Pose Estimationcited by 22
  22. 2026Orient Anything V2: Unifying Orientation and Rotation Understandingcited by 22
  23. 2022Neural Correspondence Field for Object Pose Estimationcited by 21
  24. 2022Bridging the Domain Gap in Satellite Pose Estimation: a Self-Training Approach based on Geometrical Constraintscited by 21
  25. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  26. 2021DemoGrasp: Few-Shot Learning for Robotic Grasping with Human Demonstrationcited by 20
  27. 2023Visual Localization using Imperfect 3D Models from the Internetcited by 20
  28. 2022ES6D: A Computation Efficient and Symmetry-Aware 6D Pose Regression Frameworkcited by 19
  29. 2023Learning to Estimate 6DoF Pose from Limited Data: A Few-Shot, Generalizable Approach using RGB Imagescited by 18
  30. 2023FSD: Fast Self-Supervised Single RGB-D to Categorical 3D Objectscited by 18
  31. 2021StablePose: Learning 6D Object Poses from Geometrically Stable Patchescited by 17
  32. 2022Leveraging Equivariant Features for Absolute Pose Regressioncited by 17
  33. 2022SC6D: Symmetry-agnostic and Correspondence-free 6D Object Pose Estimationcited by 17
  34. 2023Confronting Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)cited by 17
  35. 2023HiPose: Hierarchical Binary Surface Encoding and Correspondence Pruning for RGB-D 6DoF Object Pose Estimationcited by 17
  36. 2021Polarimetric Pose Predictioncited by 16
  37. 2024A Comprehensive Survey of Convolutions in Deep Learning: Applications, Challenges, and Future Trendscited by 16
  38. 2022CRT-6D: Fast 6D Object Pose Estimation with Cascaded Refinement Transformerscited by 15

50 most cited of 147 All 147 (JSON)