mlsanityData to 7 Oct 2026

StablePose: Learning 6D Object Poses from Geometrically Stable Patches

arXiv 2102.09334 ↗First posted 18 Feb 2021cs.CVcited by 17

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Abstract (arXiv)

We introduce the concept of geometric stability to the problem of 6D object pose estimation and propose to learn pose inference based on geometrically stable patches extracted from observed 3D point clouds. According to the theory of geometric stability analysis, a minimal set of three planar/cylindrical patches are geometrically stable and determine the full 6DoFs of the object pose. We train a deep neural network to regress 6D object pose based on geometrically stable patch groups via learning both intra-patch geometric features and inter-patch contextual features. A subnetwork is jointly trained to predict per-patch poses. This auxiliary task is a relaxation of the group pose prediction: A single patch cannot determine the full 6DoFs but is able to improve pose accuracy in its corresponding DoFs. Working with patch groups makes our method generalize well for random occlusion and unseen instances. The method is easily amenable to resolve symmetry ambiguities. Our method achieves the state-of-the-art results on public benchmarks compared not only to depth-only but also to RGBD methods. It also performs well in category-level pose estimation.

Key facts. Cited by 17 papers in the map (data through 7 Oct 2026). Builds on 37 of its 53 references that are in the map. First posted on arXiv 18 Feb 2021.

Builds on

37 of 53 references.

References · 37

  1. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  2. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,880
  3. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  4. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  5. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  6. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
  7. 2017A simple neural network module for relational reasoningcited by 345
  8. 20163DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructionscited by 333
  9. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  10. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  11. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  12. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
25 more
  1. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  2. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  3. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  4. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  5. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  6. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  7. 2018PPFNet: Global Context Aware Local Features for Robust 3D Point Matchingcited by 180
  8. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  9. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  10. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 123
  11. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  12. 2019Single-Stage 6D Object Pose Estimationcited by 88
  13. 2018Discovery of Latent 3D Keypoints via End-to-end Geometric Reasoningcited by 79
  14. 2020Self6D: Self-Supervised Monocular 6D Object Pose Estimationcited by 79
  15. 2020MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusioncited by 46
  16. 2020G2L-Net: Global to Local Network for Real-time 6D Pose Estimation with Embedding Vector Featurescited by 35
  17. 2016Deep Learning of Local RGB-D Patches for 3D Object Detection and 6D Pose Estimationcited by 34
  18. 20206D Object Pose Regression via Supervised Learning on Point Cloudscited by 33
  19. 2018Deep-6DPose: Recovering 6D Object Pose from a Single RGB Imagecited by 26
  20. 2020Neural Object Learning for 6D Pose Estimation Using a Few Cluttered Imagescited by 14
  21. 2019Vision-based Robotic Grasping From Object Localization, Object Pose Estimation to Grasp Estimation for Parallel Grippers: A Reviewcited by 12
  22. 2018PlaneMatch: Patch Coplanarity Prediction for Robust RGB-D Reconstructioncited by 8
  23. 2018Fast Cylinder and Plane Extraction from Depth Cameras for Visual Odometrycited by 6
  24. 2019W-PoseNet: Dense Correspondence Regularized Pixel Pair Pose Regressioncited by 6
  25. 2018Robust 6D Object Pose Estimation with Stochastic Congruent Setscited by 3

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 1; 2022: 8; 2023: 2; 2024: 3; 2025: 2; 2026: 1.

17 papers.

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  1. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  2. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  3. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  4. 2022CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wildcited by 28
  5. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  6. 2022ES6D: A Computation Efficient and Symmetry-Aware 6D Pose Regression Frameworkcited by 19
  7. 2022Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wildcited by 17
  8. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 16
  9. 2022COPE: End-to-end trainable Constant Runtime Object Pose Estimationcited by 10
  10. 2022Keypoint Cascade Voting for Point Cloud Based 6DoF Pose Estimationcited by 7
  11. 2024Learning Instance-Aware Correspondences for Robust Multi-Instance Point Cloud Registration in Cluttered Scenescited by 7
  12. 2024Category-level Object Detection, Pose Estimation and Reconstruction from Stereo Imagescited by 5
5 more
  1. 2022SO(3)-Pose: SO(3)-Equivariance Learning for 6D Object Pose Estimationcited by 4
  2. 2023Open Challenges for Monocular Single-shot 6D Object Pose Estimationcited by 2
  3. 2026Towards Symmetry-sensitive Pose Estimation: A Rotation Representation for Symmetric Object Classescited by 1
  4. 2022Towards Two-view 6D Object Pose Estimation: A Comparative Study on Fusion Strategycited by 0
  5. 2025SDT-6D: Fully Sparse Depth-Transformer for Staged End-to-End 6D Pose Estimation in Industrial Multi-View Bin Pickingcited by 0