mlsanityData to 14 Oct 2026

Polarimetric Pose Prediction

arXiv 2112.03810 ↗First posted 7 Dec 2021cs.CVcited by 16

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Abstract (arXiv)

Light has many properties that vision sensors can passively measure. Colour-band separated wavelength and intensity are arguably the most commonly used for monocular 6D object pose estimation. This paper explores how complementary polarisation information, i.e. the orientation of light wave oscillations, influences the accuracy of pose predictions. A hybrid model that leverages physical priors jointly with a data-driven learning strategy is designed and carefully tested on objects with different levels of photometric complexity. Our design significantly improves the pose accuracy compared to state-of-the-art photometric approaches and enables object pose estimation for highly reflective and transparent objects. A new multi-modal instance-level 6D object pose dataset with highly accurate pose annotations for multiple objects with varying photometric complexity is introduced as a benchmark.

Key facts. Cited by 16 papers in the map (data through 14 Oct 2026). Builds on 32 of its 65 references that are in the map. First posted on arXiv 7 Dec 2021.

Builds on

32 of 65 references.

References · 32

  1. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  2. 2017Mask R-CNNcited by 7,277
  3. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,214
  4. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  5. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  6. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  7. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  8. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  9. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  10. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  11. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  12. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
20 more
  1. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  2. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  3. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  4. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 148
  5. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  6. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  7. 2019ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulationcited by 124
  8. 2019HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objectscited by 110
  9. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  10. 2018Segmentation-driven 6D Object Pose Estimationcited by 104
  11. 2019Single-Stage 6D Object Pose Estimationcited by 88
  12. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  13. 2019KeyPose: Multi-View 3D Labeling and Keypoint Estimation for Transparent Objectscited by 75
  14. 2020Polarized Reflection Removal with Perfect Alignment in the Wildcited by 69
  15. 2018Explaining the Ambiguity of Object Detection and 6D Pose From Visual Datacited by 68
  16. 2015Learning Descriptors for Object Recognition and 3D Pose Estimationcited by 60
  17. 2019Multi-path Learning for Object Pose Estimation Across Domainscited by 52
  18. 2021StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimationcited by 40
  19. 2019Depth from a polarisation + RGB stereo paircited by 29
  20. 2020I Like to Move It: 6D Pose Estimation as an Action Decision Processcited by 22

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Cited by year

Citing papers per year: 2022: 3; 2023: 8; 2024: 3; 2025: 2.

16 papers.

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  1. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 53
  2. 2023Ultra-NeRF: Neural Radiance Fields for Ultrasound Imagingcited by 27
  3. 2023On the Importance of Accurate Geometry Data for Dense 3D Vision Taskscited by 26
  4. 2023NeISF: Neural Incident Stokes Field for Geometry and Material Estimationcited by 25
  5. 2022Is my Depth Ground-Truth Good Enough? HAMMER -- Highly Accurate Multi-Modal Dataset for DEnse 3D Scene Regressioncited by 19
  6. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 18
  7. 2023Spectral and Polarization Vision: Spectro-polarimetric Real-world Datasetcited by 8
  8. 2024Deep Polarization Cues for Single-shot Shape and Subsurface Scattering Estimationcited by 6
  9. 2024RaSim: A Range-aware High-fidelity RGB-D Data Simulation Pipeline for Real-world Applicationscited by 5
  10. 2025PolarAnything: Diffusion-based Polarimetric Image Synthesiscited by 5
  11. 2024PoTATO: A Dataset for Analyzing Polarimetric Traces of Afloat Trash Objectscited by 3
  12. 2022Disentangling 3D Attributes from a Single 2D Image: Human Pose, Shape and Garmentcited by 2
4 more
  1. 2023S2P3: Self-Supervised Polarimetric Pose Predictioncited by 2
  2. 2022A Practical Calibration Method for RGB Micro-Grid Polarimetric Camerascited by 1
  3. 2023Pola4All: survey of polarimetric applications and an open-source toolkit to analyze polarizationcited by 1
  4. 2023Polarimetric Information for Multi-Modal 6D Pose Estimation of Photometrically Challenging Objects with Limited Datacited by 0