mlsanityData to 7 Oct 2026

FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimation

arXiv 2103.02242 ↗First posted 3 Mar 2021cs.CV cs.ROcited by 144

Not on the map. Why?

Abstract (arXiv)

In this work, we present FFB6D, a Full Flow Bidirectional fusion network designed for 6D pose estimation from a single RGBD image. Our key insight is that appearance information in the RGB image and geometry information from the depth image are two complementary data sources, and it still remains unknown how to fully leverage them. Towards this end, we propose FFB6D, which learns to combine appearance and geometry information for representation learning as well as output representation selection. Specifically, at the representation learning stage, we build bidirectional fusion modules in the full flow of the two networks, where fusion is applied to each encoding and decoding layer. In this way, the two networks can leverage local and global complementary information from the other one to obtain better representations. Moreover, at the output representation stage, we designed a simple but effective 3D keypoints selection algorithm considering the texture and geometry information of objects, which simplifies keypoint localization for precise pose estimation. Experimental results show that our method outperforms the state-of-the-art by large margins on several benchmarks. Code and video are available at urlhttps://github.com/ethnhe/FFB6D.git.

Key facts. Cited by 144 papers in the map (data through 7 Oct 2026). Builds on 46 of its 74 references that are in the map. First posted on arXiv 3 Mar 2021.

Builds on

46 of 74 references.

References · 46

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  3. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  4. 2016Pyramid Scene Parsing Networkcited by 2,472
  5. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  6. 2016Stacked Hourglass Networks for Human Pose Estimationcited by 913
  7. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  8. 2016Multi-View 3D Object Detection Network for Autonomous Drivingcited by 721
  9. 2019Deep Hough Voting for 3D Object Detection in Point Cloudscited by 648
  10. 2017Frustum PointNets for 3D Object Detection from RGB-D Datacited by 640
  11. 2019RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Cloudscited by 584
  12. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
34 more
  1. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  2. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
  3. 2019Point-Voxel CNN for Efficient 3D Deep Learningcited by 343
  4. 2017Joint 3D Proposal Generation and Object Detection from View Aggregationcited by 325
  5. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  6. 2020Deep Continuous Fusion for Multi-Sensor 3D Object Detectioncited by 263
  7. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  8. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 237
  9. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  10. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  11. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  12. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  13. 2017PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimationcited by 170
  14. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  15. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  16. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 123
  17. 2015Deep Sliding Shapes for Amodal 3D Object Detection in RGB-D Imagescited by 111
  18. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  19. 2018Segmentation-driven 6D Object Pose Estimationcited by 104
  20. 2018In Defense of Classical Image Processing: Fast Depth Completion on the CPUcited by 96
  21. 2015Render for CNN: Viewpoint Estimation in Images Using CNNs Trained with Rendered 3D Model Viewscited by 94
  22. 2019Single-Stage 6D Object Pose Estimationcited by 88
  23. 2019LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimationcited by 88
  24. 2015Recovering 6D Object Pose and Predicting Next-Best-View in the Crowdcited by 79
  25. 2019KeyPose: Multi-View 3D Labeling and Keypoint Estimation for Transparent Objectscited by 75
  26. 2018Making Deep Heatmaps Robust to Partial Occlusions for 3D Object Pose Estimationcited by 74
  27. 2015Learning Descriptors for Object Recognition and 3D Pose Estimationcited by 60
  28. 2014Viewpoints and Keypointscited by 59
  29. 2018A Unified Framework for Multi-View Multi-Class Object Pose Estimationcited by 49
  30. 2020MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusioncited by 46
  31. 2020G2L-Net: Global to Local Network for Real-time 6D Pose Estimation with Embedding Vector Featurescited by 35
  32. 2016Deep Learning of Local RGB-D Patches for 3D Object Detection and 6D Pose Estimationcited by 34
  33. 2016Global Hypothesis Generation for 6D Object Pose Estimationcited by 17
  34. 2021PFRL: Pose-Free Reinforcement Learning for 6D Pose Estimationcited by 14

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 7; 2022: 40; 2023: 36; 2024: 25; 2025: 27; 2026: 9.

144 papers.

Sort:

By area:

  1. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 411
  2. 2022GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Partscited by 135
  3. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  4. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 115
  5. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  6. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  7. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  8. 2023FreeZe: Training-free zero-shot 6D pose estimation with geometric and vision foundation modelscited by 56
  9. 2022Parallel Inversion of Neural Radiance Fields for Robust Pose Estimationcited by 55
  10. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  11. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 52
  12. 2022TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulationcited by 47
38 more
  1. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 47
  2. 2022ClearPose: Large-scale Transparent Object Dataset and Benchmarkcited by 46
  3. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  4. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  5. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  6. 2024Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimationcited by 41
  7. 2023VI-Net: Boosting Category-level 6D Object Pose Estimation via Learning Decoupled Rotations on the Spherical Representationscited by 40
  8. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  9. 2025Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrationscited by 33
  10. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  11. 2022Iterative Corresponding Geometry: Fusing Region and Depth for Highly Efficient 3D Tracking of Textureless Objectscited by 30
  12. 2023Open-vocabulary object 6D pose estimationcited by 29
  13. 2024MatchU: Matching Unseen Objects for 6D Pose Estimation from RGB-D Imagescited by 28
  14. 2021Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Votingcited by 25
  15. 2021UDA-COPE: Unsupervised Domain Adaptation for Category-level Object Pose Estimationcited by 25
  16. 2022The Neural Process Family: Survey, Applications and Perspectivescited by 23
  17. 2022Uni6D: A Unified CNN Framework without Projection Breakdown for 6D Pose Estimationcited by 22
  18. 2022Neural Correspondence Field for Object Pose Estimationcited by 21
  19. 2021ACR-Pose: Adversarial Canonical Representation Reconstruction Network for Category Level 6D Object Pose Estimationcited by 20
  20. 2022ES6D: A Computation Efficient and Symmetry-Aware 6D Pose Regression Frameworkcited by 19
  21. 2024Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulationcited by 19
  22. 2022SC6D: Symmetry-agnostic and Correspondence-free 6D Object Pose Estimationcited by 17
  23. 2022Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wildcited by 17
  24. 2023HiPose: Hierarchical Binary Surface Encoding and Correspondence Pruning for RGB-D 6DoF Object Pose Estimationcited by 17
  25. 2025One2Any: One-Reference 6D Pose Estimation for Any Objectcited by 17
  26. 2021Polarimetric Pose Predictioncited by 16
  27. 2023Deep Fusion Transformer Network with Weighted Vector-Wise Keypoints Voting for Robust 6D Object Pose Estimationcited by 16
  28. 2024CLIPose: Category-Level Object Pose Estimation with Pre-trained Vision-Language Knowledgecited by 16
  29. 2025Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimationcited by 16
  30. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 16
  31. 2021Deep Point Cloud Reconstructioncited by 15
  32. 2023PointMBF: A Multi-scale Bidirectional Fusion Network for Unsupervised RGB-D Point Cloud Registrationcited by 14
  33. 2024LaPose: Laplacian Mixture Shape Modeling for RGB-Based Category-Level Object Pose Estimationcited by 13
  34. 2022Unseen Object 6D Pose Estimation: A Benchmark and Baselinescited by 12
  35. 2023Object Segmentation by Mining Cross-Modal Semanticscited by 12
  36. 2023SCP: Spherical-Coordinate-based Learned Point Cloud Compressioncited by 12
  37. 2024UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Imagecited by 12
  38. 2022Towards Self-Supervised Category-Level Object Pose and Size Estimationcited by 11

50 most cited of 144 All 144 (JSON)