mlsanityData to 7 Oct 2026

MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusion

arXiv 2004.04336 ↗First posted 9 Apr 2020cs.CV cs.ROcited by 46

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Abstract (arXiv)

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside non-parametric reconstructions of unrecognized structures. We present a system which can estimate the accurate poses of multiple known objects in contact and occlusion from real-time, embodied multi-view vision. Our approach makes 3D object pose proposals from single RGB-D views, accumulates pose estimates and non-parametric occupancy information from multiple views as the camera moves, and performs joint optimization to estimate consistent, non-intersecting poses for multiple objects in contact. We verify the accuracy and robustness of our approach experimentally on 2 object datasets: YCB-Video, and our own challenging Cluttered YCB-Video. We demonstrate a real-time robotics application where a robot arm precisely and orderly disassembles complicated piles of objects, using only on-board RGB-D vision.

Key facts. Cited by 46 papers in the map (data through 7 Oct 2026). First posted on arXiv 9 Apr 2020.

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Citing papers per year: 2021: 12; 2022: 17; 2023: 8; 2024: 3; 2025: 5; 2026: 1.

46 papers.

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  1. 2022Real-World Robot Learning with Masked Visual Pre-trainingcited by 241
  2. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  3. 2023BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objectscited by 144
  4. 2021Coarse-to-Fine Q-attention: Efficient Learning for Visual Robotic Manipulation via Discretisationcited by 120
  5. 2021Q-attention: Enabling Efficient Learning for Vision-based Robotic Manipulationcited by 85
  6. 2023vMAP: Vectorised Object Mapping for Neural Field SLAMcited by 67
  7. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  8. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  9. 2022RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimizationcited by 38
  10. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  11. 2022Object Level Depth Reconstruction for Category Level 6D Object Pose Estimation From Monocular RGB Imagecited by 29
  12. 2022Uni6D: A Unified CNN Framework without Projection Breakdown for 6D Pose Estimationcited by 22
34 more
  1. 2022Sim-to-Real 6D Object Pose Estimation via Iterative Self-training for Robotic Bin Pickingcited by 20
  2. 2022Learning 6-DoF Object Poses to Grasp Category-level Objects by Language Instructionscited by 19
  3. 2021StablePose: Learning 6D Object Poses from Geometrically Stable Patchescited by 17
  4. 2021PR-GCN: A Deep Graph Convolutional Network with Point Refinement for 6D Pose Estimationcited by 17
  5. 2023HiPose: Hierarchical Binary Surface Encoding and Correspondence Pruning for RGB-D 6DoF Object Pose Estimationcited by 17
  6. 2023Deep Fusion Transformer Network with Weighted Vector-Wise Keypoints Voting for Robust 6D Object Pose Estimationcited by 16
  7. 2021Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignmentscited by 15
  8. 2023An Object SLAM Framework for Association, Mapping, and High-Level Taskscited by 15
  9. 2023MVTrans: Multi-View Perception of Transparent Objectscited by 14
  10. 2022DGECN: A Depth-Guided Edge Convolutional Network for End-to-End 6D Pose Estimationcited by 12
  11. 2022ReorientBot: Learning Object Reorientation for Specific-Posed Placementcited by 10
  12. 2022RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Controlcited by 10
  13. 2023Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interactioncited by 10
  14. 2022Coarse-to-fine Q-attention with Tree Expansioncited by 9
  15. 2022Bingham Policy Parameterization for 3D Rotations in Reinforcement Learningcited by 7
  16. 2022NeRF-Loc: Transformer-Based Object Localization Within Neural Radiance Fieldscited by 7
  17. 2022Ambiguity-Aware Multi-Object Pose Optimization for Visually-Assisted Robot Manipulationcited by 6
  18. 2021SIMstack: A Generative Shape and Instance Model for Unordered Object Stackscited by 4
  19. 2022SporeAgent: Reinforced Scene-level Plausibility for Object Pose Refinementcited by 4
  20. 2022SafePicking: Learning Safe Object Extraction via Object-Level Mappingcited by 3
  21. 2023Physics-Based Rigid Body Object Tracking and Friction Filtering From RGB-D Videoscited by 3
  22. 2025Active 6D Pose Estimation for Textureless Objects using Multi-View RGB Framescited by 3
  23. 2025PhysPose: Refining 6D Object Poses with Physical Constraintscited by 3
  24. 2024Fit-NGP: Fitting Object Models to Neural Graphics Primitivescited by 2
  25. 2024A Low-Cost, High-Speed, and Robust Bin Picking System for Factory Automation Enabled by a Non-Stop, Multi-View, and Active Vision Schemecited by 2
  26. 2025Reasoning and Learning a Perceptual Metric for Self-Training of Reflective Objects in Bin-Picking with a Low-cost Cameracited by 2
  27. 2021Generating Annotated Training Data for 6D Object Pose Estimation in Operational Environments with Minimal User Interactioncited by 0
  28. 2021Learning Stereopsis from Geometric Synthesis for 6D Object Pose Estimationcited by 0
  29. 2021Advanced Algorithms of Collision Free Navigation and Flocking for Autonomous UAVscited by 0
  30. 2022GloCAL: Glocalized Curriculum-Aided Learning of Multiple Tasks with Application to Robotic Graspingcited by 0
  31. 2022Towards Two-view 6D Object Pose Estimation: A Comparative Study on Fusion Strategycited by 0
  32. 2025Exploiting Radiance Fields for Grasp Generation on Novel Synthetic Viewscited by 0
  33. 2025AlignPose: Generalizable 6D Pose Estimation via Multi-view Feature-metric Alignmentcited by 0
  34. 2026Temporally Consistent Object 6D Pose Estimation for Robot Controlcited by 0