mlsanityData to 14 Oct 2026

Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overview

arXiv 2105.14291 ↗First posted 29 May 2021cs.CVcited by 31

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Abstract (arXiv)

Object pose detection and tracking has recently attracted increasing attention due to its wide applications in many areas, such as autonomous driving, robotics, and augmented reality. Among methods for object pose detection and tracking, deep learning is the most promising one that has shown better performance than others. However, survey study about the latest development of deep learning-based methods is lacking. Therefore, this study presents a comprehensive review of recent progress in object pose detection and tracking that belongs to the deep learning technical route. To achieve a more thorough introduction, the scope of this study is limited to methods taking monocular RGB/RGBD data as input and covering three kinds of major tasks: instance-level monocular object pose detection, category-level monocular object pose detection, and monocular object pose tracking. In our work, metrics, datasets, and methods of both detection and tracking are presented in detail. Comparative results of current state-of-the-art methods on several publicly available datasets are also presented, together with insightful observations and inspiring future research directions.

Key facts. Cited by 31 papers in the map (data through 14 Oct 2026). Builds on 123 of its 187 references that are in the map. First posted on arXiv 29 May 2021.

Builds on

123 of 187 references.

References · 123

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50 most cited of 123 All 123 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 2; 2022: 8; 2023: 9; 2024: 5; 2025: 5; 2026: 2.

31 papers.

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  1. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  2. 2023EmoTalk: Speech-Driven Emotional Disentanglement for 3D Face Animationcited by 142
  3. 2022Bridging the Domain Gap for Multi-Agent Perceptioncited by 60
  4. 2023Visibility Aware Human-Object Interaction Tracking from Single RGB Cameracited by 58
  5. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  6. 2022Object Level Depth Reconstruction for Category Level 6D Object Pose Estimation From Monocular RGB Imagecited by 30
  7. 2022Towards Bridging the Space Domain Gap for Satellite Pose Estimation using Event Sensingcited by 21
  8. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  9. 2021ACR-Pose: Adversarial Canonical Representation Reconstruction Network for Category Level 6D Object Pose Estimationcited by 20
  10. 2022FvOR: Robust Joint Shape and Pose Optimization for Few-view Object Reconstructioncited by 19
  11. 2023Global Adaptation meets Local Generalization: Unsupervised Domain Adaptation for 3D Human Pose Estimationcited by 19
  12. 2021MonoCInIS: Camera Independent Monocular 3D Object Detection using Instance Segmentationcited by 16
19 more
  1. 2024GBOT: Graph-Based 3D Object Tracking for Augmented Reality-Assisted Assembly Guidancecited by 7
  2. 2023SA6D: Self-Adaptive Few-Shot 6D Pose Estimator for Novel and Occluded Objectscited by 6
  3. 2023PMMTalk: Speech-Driven 3D Facial Animation from Complementary Pseudo Multi-modal Featurescited by 6
  4. 2025PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Trackingcited by 5
  5. 2022Category-Agnostic 6D Pose Estimation with Conditional Neural Processescited by 4
  6. 2024Certifying Robustness of Learning-Based Keypoint Detection and Pose Estimation Methodscited by 4
  7. 2025From Orthomosaics to Raw UAV Imagery: Enhancing Palm Detection and Crown-Center Localizationcited by 3
  8. 2023Open Challenges for Monocular Single-shot 6D Object Pose Estimationcited by 2
  9. 2026IndustryShapes: An RGB-D Benchmark dataset for 6D object pose estimation of industrial assembly components and toolscited by 2
  10. 2022FuRPE: Learning Full-body Reconstruction from Part Expertscited by 1
  11. 2023Deep Learning for Human Parsing: A Surveycited by 1
  12. 2024From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layerscited by 1
  13. 2024FAFA: Frequency-Aware Flow-Aided Self-Supervision for Underwater Object Pose Estimationcited by 1
  14. 20256DAttack: Backdoor Attacks in the 6DoF Pose Estimationcited by 1
  15. 2022MonoSIM: Simulating Learning Behaviors of Heterogeneous Point Cloud Object Detectors for Monocular 3D Object Detectioncited by 0
  16. 2023KVN: Keypoints Voting Network with Differentiable RANSAC for Stereo Pose Estimationcited by 0
  17. 2025Category-Level and Open-Set Object Pose Estimation for Roboticscited by 0
  18. 2025Consensus-Driven Uncertainty for Robotic Grasping based on RGB Perceptioncited by 0
  19. 2026Adding Another Dimension to Image-based Animal Detectioncited by 0