mlsanityData to 14 Oct 2026

ACR-Pose: Adversarial Canonical Representation Reconstruction Network for Category Level 6D Object Pose Estimation

arXiv 2111.10524 ↗First posted 20 Nov 2021cs.CV cs.AIcited by 20

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Abstract (arXiv)

Recently, category-level 6D object pose estimation has achieved significant improvements with the development of reconstructing canonical 3D representations. However, the reconstruction quality of existing methods is still far from excellent. In this paper, we propose a novel Adversarial Canonical Representation Reconstruction Network named ACR-Pose. ACR-Pose consists of a Reconstructor and a Discriminator. The Reconstructor is primarily composed of two novel sub-modules: Pose-Irrelevant Module (PIM) and Relational Reconstruction Module (RRM). PIM tends to learn canonical-related features to make the Reconstructor insensitive to rotation and translation, while RRM explores essential relational information between different input modalities to generate high-quality features. Subsequently, a Discriminator is employed to guide the Reconstructor to generate realistic canonical representations. The Reconstructor and the Discriminator learn to optimize through adversarial training. Experimental results on the prevalent NOCS-CAMERA and NOCS-REAL datasets demonstrate that our method achieves state-of-the-art performance.

Key facts. Cited by 20 papers in the map (data through 14 Oct 2026). Builds on 44 of its 61 references that are in the map. First posted on arXiv 20 Nov 2021.

Builds on

44 of 61 references.

References · 44

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  11. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
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32 more
  1. 2019VIBE: Video Inference for Human Body Pose and Shape Estimationcited by 620
  2. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  3. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  4. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 382
  5. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  6. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  7. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 241
  8. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  9. 2016Coupled Generative Adversarial Networkscited by 216
  10. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited 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. 2019PU-GAN: a Point Cloud Upsampling Adversarial Networkcited by 164
  14. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 161
  15. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  16. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 124
  17. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  18. 2016Energy-based Generative Adversarial Networkcited by 119
  19. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  20. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  21. 2020Self6D: Self-Supervised Monocular 6D Object Pose Estimationcited by 79
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  23. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
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  27. 2021Category-Level Metric Scale Object Shape and Pose Estimationcited by 41
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  29. 2020GSNet: Joint Vehicle Pose and Shape Reconstruction with Geometrical and Scene-aware Supervisioncited by 28
  30. 2021Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Votingcited by 25
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  32. 2020EfficientPose: Efficient Human Pose Estimation with Neural Architecture Searchcited by 10

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 4; 2023: 6; 2024: 3; 2025: 5; 2026: 2.

20 papers.

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  1. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 53
  2. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  3. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 41
  4. 2023VI-Net: Boosting Category-level 6D Object Pose Estimation via Learning Decoupled Rotations on the Spherical Representationscited by 41
  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. 2022CATRE: Iterative Point Clouds Alignment for Category-level Object Pose Refinementcited by 29
  8. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  9. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 18
  10. 2024CLIPose: Category-Level Object Pose Estimation with Pre-trained Vision-Language Knowledgecited by 16
  11. 2024LaPose: Laplacian Mixture Shape Modeling for RGB-Based Category-Level Object Pose Estimationcited by 14
  12. 2022TransNet: Category-Level Transparent Object Pose Estimationcited by 13
8 more
  1. 2025CleanPose: Category-Level Object Pose Estimation via Causal Learning and Knowledge Distillationcited by 10
  2. 2025GIVEPose: Gradual Intra-class Variation Elimination for RGB-based Category-Level Object Pose Estimationcited by 6
  3. 2023RGB-D-Based Categorical Object Pose and Shape Estimation: Methods, Datasets, and Evaluationcited by 2
  4. 2023TransNet: Transparent Object Manipulation Through Category-Level Pose Estimationcited by 1
  5. 2025Category-Level and Open-Set Object Pose Estimation for Roboticscited by 0
  6. 2025THE-Pose: Topological Prior with Hybrid Graph Fusion for Estimating Category-Level 6D Object Posecited by 0
  7. 2026Demo-Pose: Depth-Monocular Modality Fusion For Object Pose Estimationcited by 0
  8. 2026PriorPose: Reference-Guided Joint Deformation and Alignment for Category-Level Object Pose Estimationcited by 0