# EfficientPose: An efficient, accurate and scalable end-to-end 6D multi object pose estimation approach

arXiv: https://arxiv.org/abs/2011.04307 · HTML: https://mlsanity.com/paper/2011.04307/

## Key facts

- Cited by 46 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Nov 2020.

## Built on by (most cited first, 30 of 46)

- [RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wild](https://mlsanity.com/paper/2208.05963/) (2022)
- [Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos](https://mlsanity.com/paper/2507.15597/) (2025)
- [RePOSE: Fast 6D Object Pose Refinement via Deep Texture Rendering](https://mlsanity.com/paper/2104.00633/) (2021)
- [PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objects](https://mlsanity.com/paper/2205.08811/) (2022)
- [Robust Multi-Task Learning and Online Refinement for Spacecraft Pose Estimation across Domain Gap](https://mlsanity.com/paper/2203.04275/) (2022)
- [OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimation](https://mlsanity.com/paper/2203.01072/) (2022)
- [Deep Learning-Based Object Pose Estimation: A Comprehensive Survey](https://mlsanity.com/paper/2405.07801/) (2024)
- [Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overview](https://mlsanity.com/paper/2105.14291/) (2021)
- [A Survey on Deep Learning-Based Monocular Spacecraft Pose Estimation: Current State, Limitations and Prospects](https://mlsanity.com/paper/2305.07348/) (2023)
- [Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Voting](https://mlsanity.com/paper/2104.02527/) (2021)
- [Leveraging Neural Radiance Fields for Pose Estimation of an Unknown Space Object during Proximity Operations](https://mlsanity.com/paper/2405.12728/) (2024)
- [SurgRIPE challenge: Benchmark of Surgical Robot Instrument Pose Estimation](https://mlsanity.com/paper/2501.02990/) (2025)
- [GTPT: Group-based Token Pruning Transformer for Efficient Human Pose Estimation](https://mlsanity.com/paper/2407.10756/) (2024)
- [RayEmb: Arbitrary Landmark Detection in X-Ray Images Using Ray Embedding Subspace](https://mlsanity.com/paper/2410.08152/) (2024)
- [HMD-EgoPose: Head-Mounted Display-Based Egocentric Marker-Less Tool and Hand Pose Estimation for Augmented Surgical Guidance](https://mlsanity.com/paper/2202.11891/) (2022)
- [Video based Object 6D Pose Estimation using Transformers](https://mlsanity.com/paper/2210.13540/) (2022)
- [Domain Generalization for 6D Pose Estimation Through NeRF-based Image Synthesis](https://mlsanity.com/paper/2407.10762/) (2024)
- [Uncertainty-Aware Knowledge Distillation for Compact and Efficient 6DoF Pose Estimation](https://mlsanity.com/paper/2503.13053/) (2025)
- [Towards Deep Learning-based 6D Bin Pose Estimation in 3D Scans](https://mlsanity.com/paper/2112.09598/) (2021)
- [Image to Icosahedral Projection for SO(3) Object Reasoning from Single-View Images](https://mlsanity.com/paper/2207.08925/) (2022)
- [Unified Category-Level Object Detection and Pose Estimation from RGB Images using 3D Prototypes](https://mlsanity.com/paper/2508.02157/) (2025)
- [MBAPose: Mask and Bounding-Box Aware Pose Estimation of Surgical Instruments with Photorealistic Domain Randomization](https://mlsanity.com/paper/2103.08105/) (2021)
- [Rigidity Preserving Image Transformations and Equivariance in Perspective](https://mlsanity.com/paper/2201.13065/) (2022)
- [Model-Based Underwater 6D Pose Estimation from RGB](https://mlsanity.com/paper/2302.06821/) (2023)
- [Advancing 6-DoF Instrument Pose Estimation in Variable X-Ray Imaging Geometries](https://mlsanity.com/paper/2405.11677/) (2024)
- [NeRF-based Visualization of 3D Cues Supporting Data-Driven Spacecraft Pose Estimation](https://mlsanity.com/paper/2509.14890/) (2025)
- [Towards real-time 6D pose estimation of objects in single-view cone-beam X-ray](https://mlsanity.com/paper/2211.03211/) (2022)
- [Uncovering the Background-Induced bias in RGB based 6-DoF Object Pose Estimation](https://mlsanity.com/paper/2304.08230/) (2023)
- [Resolving Symmetry Ambiguity in Correspondence-based Methods for Instance-level Object Pose Estimation](https://mlsanity.com/paper/2405.10557/) (2024)
- [FAFA: Frequency-Aware Flow-Aided Self-Supervision for Underwater Object Pose Estimation](https://mlsanity.com/paper/2409.16600/) (2024)

## Abstract (arXiv)

In this paper we introduce EfficientPose, a new approach for 6D object pose estimation. Our method is highly accurate, efficient and scalable over a wide range of computational resources. Moreover, it can detect the 2D bounding box of multiple objects and instances as well as estimate their full 6D poses in a single shot. This eliminates the significant increase in runtime when dealing with multiple objects other approaches suffer from. These approaches aim to first detect 2D targets, e.g. keypoints, and solve a Perspective-n-Point problem for their 6D pose for each object afterwards. We also propose a novel augmentation method for direct 6D pose estimation approaches to improve performance and generalization, called 6D augmentation. Our approach achieves a new state-of-the-art accuracy of 97.35% in terms of the ADD(-S) metric on the widely-used 6D pose estimation benchmark dataset Linemod using RGB input, while still running end-to-end at over 27 FPS. Through the inherent handling of multiple objects and instances and the fused single shot 2D object detection as well as 6D pose estimation, our approach runs even with multiple objects (eight) end-to-end at over 26 FPS, making it highly attractive to many real world scenarios. Code will be made publicly available at https://github.com/ybkscht/EfficientPose.