mlsanityData to 7 Oct 2026

Towards Real-World Category-level Articulation Pose Estimation

arXiv 2105.03260 ↗First posted 7 May 2021cs.CV cs.ROcited by 39

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Abstract (arXiv)

Human life is populated with articulated objects. Current Category-level Articulation Pose Estimation (CAPE) methods are studied under the single-instance setting with a fixed kinematic structure for each category. Considering these limitations, we reform this problem setting for real-world environments and suggest a CAPE-Real (CAPER) task setting. This setting allows varied kinematic structures within a semantic category, and multiple instances to co-exist in an observation of real world. To support this task, we build an articulated model repository ReArt-48 and present an efficient dataset generation pipeline, which contains Fast Articulated Object Modeling (FAOM) and Semi-Authentic MixEd Reality Technique (SAMERT). Accompanying the pipeline, we build a large-scale mixed reality dataset ReArtMix and a real world dataset ReArtVal. We also propose an effective framework ReArtNOCS that exploits RGB-D input to estimate part-level pose for multiple instances in a single forward pass. Extensive experiments demonstrate that the proposed ReArtNOCS can achieve good performance on both CAPER and CAPE settings. We believe it could serve as a strong baseline for future research on the CAPER task.

Key facts. Cited by 39 papers in the map (data through 7 Oct 2026). Builds on 17 of its 21 references that are in the map. First posted on arXiv 7 May 2021.

Builds on

17 of 21 references.

References · 17

  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. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,880
  4. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 584
  5. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  6. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
  7. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  8. 2019Category-Level Articulated Object Pose Estimationcited by 158
  9. 2019Shape2Motion: Joint Analysis of Motion Parts and Attributes from 3D Shapescited by 117
  10. 2018PlaneRCNN: 3D Plane Detection and Reconstruction from a Single Imagecited by 105
  11. 20196-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypointscited by 78
  12. 2018Deep Part Induction from Articulated Object Pairscited by 66
5 more
  1. 2018The RBO Dataset of Articulated Objects and Interactionscited by 34
  2. 2017LabelFusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenescited by 32
  3. 2020Nothing But Geometric Constraints: A Model-Free Method for Articulated Object Pose Estimationcited by 25
  4. 2018Applying Domain Randomization to Synthetic Data for Object Category Detectioncited by 9
  5. 2020CPS++: Improving Class-level 6D Pose and Shape Estimation From Monocular Images With Self-Supervised Learningcited by 7

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 1; 2022: 3; 2023: 6; 2024: 8; 2025: 15; 2026: 6.

39 papers.

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  1. 2022AKB-48: A Real-World Articulated Object Knowledge Basecited by 81
  2. 2021ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesiscited by 76
  3. 2022Full-Body Articulated Human-Object Interactioncited by 76
  4. 2025ArtGS: Building Interactable Replicas of Complex Articulated Objects via Gaussian Splattingcited by 67
  5. 2025Articulate AnyMesh: Open-Vocabulary 3D Articulated Objects Modelingcited by 41
  6. 2025PhysX-3D: Physical-Grounded 3D Asset Generationcited by 40
  7. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  8. 2022Understanding 3D Object Articulation in Internet Videoscited by 36
  9. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 34
  10. 2023Self-Supervised Category-Level Articulated Object Pose Estimation with Part-Level SE(3) Equivariancecited by 26
  11. 2024Articulate your NeRF: Unsupervised articulated object modeling via conditional view synthesiscited by 24
  12. 2025FreeArt3D: Training-Free Articulated Object Generation using 3D Diffusioncited by 22
27 more
  1. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  2. 2023ContactArt: Learning 3D Interaction Priors for Category-level Articulated Object and Hand Poses Estimationcited by 16
  3. 2023GarmentTracking: Category-Level Garment Pose Trackingcited by 15
  4. 2025VideoArtGS: Building Digital Twins of Articulated Objects from Monocular Videocited by 15
  5. 2024Survey on Modeling of Human-made Articulated Objectscited by 14
  6. 2025LARM: A Large Articulated-Object Reconstruction Modelcited by 12
  7. 2024CAPT: Category-level Articulation Estimation from a Single Point Cloud Using Transformercited by 11
  8. 2025ART: Articulated Reconstruction Transformercited by 9
  9. 2023RoSI: Recovering 3D Shape Interiors from Few Articulation Imagescited by 6
  10. 2025MonoMobility: Zero-Shot 3D Mobility Analysis from Monocular Videoscited by 6
  11. 2026Articulation in Motion: Prior-free Part Mobility Analysis for Articulated Objects By Dynamic-Static Disentanglementcited by 6
  12. 2024RPMArt: Towards Robust Perception and Manipulation for Articulated Objectscited by 5
  13. 2024Discovering Conceptual Knowledge with Analytic Ontology Templates for Articulated Objectscited by 5
  14. 2025CAP-Net: A Unified Network for 6D Pose and Size Estimation of Categorical Articulated Parts from a Single RGB-D Imagecited by 5
  15. 2026Artiverse: A Diverse and Physically Grounded Dataset for Articulated Objectscited by 4
  16. 2024Towards Real-World Aerial Vision Guidance with Categorical 6D Pose Trackercited by 3
  17. 2025You Only Estimate Once: Unified, One-stage, Real-Time Category-level Articulated Object 6D Pose Estimation for Robotic Graspingcited by 3
  18. 2023CA2T-Net: Category-Agnostic 3D Articulation Transfer from Single Imagecited by 2
  19. 2025DYNAMO: Dependency-Aware Deep Learning Framework for Articulated Assembly Motion Predictioncited by 2
  20. 2026DICArt: Advancing Category-level Articulated Object Pose Estimation in Discrete State-Spacescited by 2
  21. 2026ArtPro: Self-Supervised Articulated Object Reconstruction with Adaptive Integration of Mobility Proposalscited by 1
  22. 2025KineDiff3D: Kinematic-Aware Diffusion for Category-Level Articulated Object Shape Reconstruction and Generationcited by 0
  23. 2025Canonical Space Representation for 4D Panoptic Segmentation of Articulated Objectscited by 0
  24. 2025Exploring Category-level Articulated Object Pose Tracking on SE(3) Manifoldscited by 0
  25. 2025ArtReg: Visuo-Tactile based Pose Tracking and Manipulation of Unseen Articulated Objectscited by 0
  26. 2026URDF Synthesis from RGB-D Sequences via Differentiable Joint Inference and Energy-Consistent Verificationcited by 0
  27. 2026Flow6D: Discrete-to-Continuous Flow Matching for Efficient and Accurate Category-Level 6D Pose Estimationcited by 0