mlsanityData to 7 Oct 2026

Shape Prior Deformation for Categorical 6D Object Pose and Size Estimation

arXiv 2007.08454 ↗First posted 16 Jul 2020cs.CVcited by 158

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Abstract (arXiv)

We present a novel learning approach to recover the 6D poses and sizes of unseen object instances from an RGB-D image. To handle the intra-class shape variation, we propose a deep network to reconstruct the 3D object model by explicitly modeling the deformation from a pre-learned categorical shape prior. Additionally, our network infers the dense correspondences between the depth observation of the object instance and the reconstructed 3D model to jointly estimate the 6D object pose and size. We design an autoencoder that trains on a collection of object models and compute the mean latent embedding for each category to learn the categorical shape priors. Extensive experiments on both synthetic and real-world datasets demonstrate that our approach significantly outperforms the state of the art. Our code is available at https://github.com/mentian/object-deformnet.

Key facts. Cited by 158 papers in the map (data through 7 Oct 2026). First posted on arXiv 16 Jul 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 15; 2022: 37; 2023: 28; 2024: 25; 2025: 34; 2026: 19.

158 papers.

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  1. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 411
  2. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 155
  3. 2023BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objectscited by 144
  4. 2022GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Partscited by 135
  5. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  6. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  7. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 115
  8. 2023OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Modelscited by 114
  9. 2024RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videoscited by 113
  10. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  11. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  12. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 83
38 more
  1. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  2. 2022Category-Level 6D Object Pose and Size Estimation using Self-Supervised Deep Prior Deformation Networkscited by 73
  3. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 70
  4. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  5. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 69
  6. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  7. 2022Zero-Shot Category-Level Object Pose Estimationcited by 57
  8. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  9. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 52
  10. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 51
  11. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 47
  12. 2023GenPose: Generative Category-level Object Pose Estimation via Diffusion Modelscited by 47
  13. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 47
  14. 2021Leveraging SE(3) Equivariance for Self-Supervised Category-Level Object Pose Estimationcited by 45
  15. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  16. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  17. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
  18. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  19. 2024Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimationcited by 41
  20. 2021Category-Level Metric Scale Object Shape and Pose Estimationcited by 40
  21. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 40
  22. 2023VI-Net: Boosting Category-level 6D Object Pose Estimation via Learning Decoupled Rotations on the Spherical Representationscited by 40
  23. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  24. 2024HOIDiffusion: Generating Realistic 3D Hand-Object Interaction Datacited by 37
  25. 2023TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimationcited by 32
  26. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  27. 2023POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Referencecited by 30
  28. 2022Object Level Depth Reconstruction for Category Level 6D Object Pose Estimation From Monocular RGB Imagecited by 29
  29. 2022CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wildcited by 28
  30. 2022CATRE: Iterative Point Clouds Alignment for Category-level Object Pose Refinementcited by 28
  31. 2021UDA-COPE: Unsupervised Domain Adaptation for Category-level Object Pose Estimationcited by 25
  32. 2024DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimationcited by 24
  33. 2021iCaps: Iterative Category-level Object Pose and Shape Estimationcited by 23
  34. 2022Self-Supervised Geometric Correspondence for Category-Level 6D Object Pose Estimation in the Wildcited by 22
  35. 20216D-ViT: Category-Level 6D Object Pose Estimation via Transformer-based Instance Representation Learningcited by 20
  36. 2021ACR-Pose: Adversarial Canonical Representation Reconstruction Network for Category Level 6D Object Pose Estimationcited by 20
  37. 2022Sim-to-Real 6D Object Pose Estimation via Iterative Self-training for Robotic Bin Pickingcited by 20
  38. 2022Learning 6-DoF Object Poses to Grasp Category-level Objects by Language Instructionscited by 19

50 most cited of 158 All 158 (JSON)