mlsanityData to 7 Oct 2026

DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistency

arXiv 2103.06526 ↗First posted 11 Mar 2021cs.CVcited by 103

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Abstract (arXiv)

Category-level 6D object pose and size estimation is to predict full pose configurations of rotation, translation, and size for object instances observed in single, arbitrary views of cluttered scenes. In this paper, we propose a new method of Dual Pose Network with refined learning of pose consistency for this task, shortened as DualPoseNet. DualPoseNet stacks two parallel pose decoders on top of a shared pose encoder, where the implicit decoder predicts object poses with a working mechanism different from that of the explicit one; they thus impose complementary supervision on the training of pose encoder. We construct the encoder based on spherical convolutions, and design a module of Spherical Fusion wherein for a better embedding of pose-sensitive features from the appearance and shape observations. Given no testing CAD models, it is the novel introduction of the implicit decoder that enables the refined pose prediction during testing, by enforcing the predicted pose consistency between the two decoders using a self-adaptive loss term. Thorough experiments on benchmarks of both category- and instance-level object pose datasets confirm efficacy of our designs. DualPoseNet outperforms existing methods with a large margin in the regime of high precision. Our code is released publicly at https://github.com/Gorilla-Lab-SCUT/DualPoseNet.

Key facts. Cited by 103 papers in the map (data through 7 Oct 2026). Builds on 26 of its 39 references that are in the map. First posted on arXiv 11 Mar 2021.

Builds on

26 of 39 references.

References · 26

  1. 2017Mask R-CNNcited by 7,259
  2. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  3. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,880
  4. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  5. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 939
  6. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  7. 2019Deep Hough Voting for 3D Object Detection in Point Cloudscited by 648
  8. 2017Frustum PointNets for 3D Object Detection from RGB-D Datacited by 640
  9. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  10. 2018Spherical CNNscited by 452
  11. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  12. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
14 more
  1. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  2. 2019STD: Sparse-to-Dense 3D Object Detector for Point Cloudcited by 282
  3. 2017Learning SO(3) Equivariant Representations with Spherical CNNscited by 244
  4. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  5. 2017PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimationcited by 170
  6. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  7. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 158
  8. 2019Frustum ConvNet: Sliding Frustums to Aggregate Local Point-Wise Features for Amodal 3D Object Detectioncited by 124
  9. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 123
  10. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  11. 2018A Unified Framework for Multi-View Multi-Class Object Pose Estimationcited by 49
  12. 2019On Object Symmetries and 6D Pose Estimation from Imagescited by 33
  13. 2017Going Further with Point Pair Featurescited by 28
  14. 2019W-PoseNet: Dense Correspondence Regularized Pixel Pair Pose Regressioncited by 6

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 7; 2022: 23; 2023: 21; 2024: 21; 2025: 17; 2026: 14.

103 papers.

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  1. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  2. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 115
  3. 2024RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videoscited by 113
  4. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  5. 2022Category-Level 6D Object Pose and Size Estimation using Self-Supervised Deep Prior Deformation Networkscited by 73
  6. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  7. 2023FreeZe: Training-free zero-shot 6D pose estimation with geometric and vision foundation modelscited by 56
  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
38 more
  1. 2023HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructionscited by 47
  2. 2022PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objectscited by 45
  3. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  4. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  5. 2024Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimationcited by 41
  6. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 40
  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. 2024HOIDiffusion: Generating Realistic 3D Hand-Object Interaction Datacited by 37
  10. 2023TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimationcited by 32
  11. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  12. 2023POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Referencecited by 30
  13. 2022Object Level Depth Reconstruction for Category Level 6D Object Pose Estimation From Monocular RGB Imagecited by 29
  14. 2022CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wildcited by 28
  15. 2022CATRE: Iterative Point Clouds Alignment for Category-level Object Pose Refinementcited by 28
  16. 2021UDA-COPE: Unsupervised Domain Adaptation for Category-level Object Pose Estimationcited by 25
  17. 2024DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimationcited by 24
  18. 2022Robust Category-Level 6D Pose Estimation with Coarse-to-Fine Rendering of Neural Featurescited by 23
  19. 2022Self-Supervised Geometric Correspondence for Category-Level 6D Object Pose Estimation in the Wildcited by 22
  20. 20216D-ViT: Category-Level 6D Object Pose Estimation via Transformer-based Instance Representation Learningcited by 20
  21. 2021ACR-Pose: Adversarial Canonical Representation Reconstruction Network for Category Level 6D Object Pose Estimationcited by 20
  22. 2022Generative Category-Level Shape and Pose Estimation with Semantic Primitivescited by 19
  23. 2023Learning to Estimate 6DoF Pose from Limited Data: A Few-Shot, Generalizable Approach using RGB Imagescited by 18
  24. 2021Sparse Steerable Convolutions: An Efficient Learning of SE(3)-Equivariant Features for Estimation and Tracking of Object Poses in 3D Spacecited by 17
  25. 2022Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wildcited by 17
  26. 2024CLIPose: Category-Level Object Pose Estimation with Pre-trained Vision-Language Knowledgecited by 16
  27. 2025Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimationcited by 16
  28. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 16
  29. 2022TransNet: Category-Level Transparent Object Pose Estimationcited by 13
  30. 2023RGB-based Category-level Object Pose Estimation via Decoupled Metric Scale Recoverycited by 13
  31. 2024LaPose: Laplacian Mixture Shape Modeling for RGB-Based Category-Level Object Pose Estimationcited by 13
  32. 2021DISP6D: Disentangled Implicit Shape and Pose Learning for Scalable 6D Pose Estimationcited by 12
  33. 2023SOCS: Semantically-aware Object Coordinate Space for Category-Level 6D Object Pose Estimation under Large Shape Variationscited by 12
  34. 2023GS-Pose: Category-Level Object Pose Estimation via Geometric and Semantic Correspondencecited by 12
  35. 2024UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Imagecited by 12
  36. 2022Towards Self-Supervised Category-Level Object Pose and Size Estimationcited by 11
  37. 2023PACE: A Large-Scale Dataset with Pose Annotations in Cluttered Environmentscited by 11
  38. 2024Omni6D: Large-Vocabulary 3D Object Dataset for Category-Level 6D Object Pose Estimationcited by 11

50 most cited of 103 All 103 (JSON)