mlsanityData to 7 Oct 2026

iCaps: Iterative Category-level Object Pose and Shape Estimation

arXiv 2201.00059 ↗First posted 31 Dec 2021cs.CV cs.ROcited by 23

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Abstract (arXiv)

This paper proposes a category-level 6D object pose and shape estimation approach iCaps, which allows tracking 6D poses of unseen objects in a category and estimating their 3D shapes. We develop a category-level auto-encoder network using depth images as input, where feature embeddings from the auto-encoder encode poses of objects in a category. The auto-encoder can be used in a particle filter framework to estimate and track 6D poses of objects in a category. By exploiting an implicit shape representation based on signed distance functions, we build a LatentNet to estimate a latent representation of the 3D shape given the estimated pose of an object. Then the estimated pose and shape can be used to update each other in an iterative way. Our category-level 6D object pose and shape estimation pipeline only requires 2D detection and segmentation for initialization. We evaluate our approach on a publicly available dataset and demonstrate its effectiveness. In particular, our method achieves comparably high accuracy on shape estimation.

Key facts. Cited by 23 papers in the map (data through 7 Oct 2026). Builds on 36 of its 46 references that are in the map. First posted on arXiv 31 Dec 2021.

Builds on

36 of 46 references.

References · 36

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
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  11. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
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24 more
  1. 2017Frustum PointNets for 3D Object Detection from RGB-D Datacited by 640
  2. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  3. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  4. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 381
  5. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
  6. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  7. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  8. 20163D Bounding Box Estimation Using Deep Learning and Geometrycited by 277
  9. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  10. 2016Shape Completion using 3D-Encoder-Predictor CNNs and Shape Synthesiscited by 219
  11. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  12. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  13. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 158
  14. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 123
  15. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  16. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  17. 2019PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Trackingcited by 91
  18. 2020se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domainscited by 87
  19. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  20. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 83
  21. 20196-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypointscited by 78
  22. 2015Learning Analysis-by-Synthesis for 6D Pose Estimation in RGB-D Imagescited by 29
  23. 2021Optimal Pose and Shape Estimation for Category-level 3D Object Perceptioncited by 15
  24. 2019Instance- and Category-level 6D Object Pose Estimationcited by 7

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Cited by year

Citing papers per year: 2022: 6; 2023: 13; 2024: 4.

23 papers.

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  1. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  2. 2023GenPose: Generative Category-level Object Pose Estimation via Diffusion Modelscited by 47
  3. 2023HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructionscited by 47
  4. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  5. 2023POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Referencecited by 30
  6. 2022CATRE: Iterative Point Clouds Alignment for Category-level Object Pose Refinementcited by 28
  7. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  8. 2022Generative Category-Level Shape and Pose Estimation with Semantic Primitivescited by 19
  9. 2022StereoPose: Category-Level 6D Transparent Object Pose Estimation from Stereo Images via Back-View NOCScited by 18
  10. 2023Learning to Estimate 6DoF Pose from Limited Data: A Few-Shot, Generalizable Approach using RGB Imagescited by 18
  11. 2023SOCS: Semantically-aware Object Coordinate Space for Category-Level 6D Object Pose Estimation under Large Shape Variationscited by 12
  12. 2024OV9D: Open-Vocabulary Category-Level 9D Object Pose and Size Estimationcited by 10
11 more
  1. 2022SDFEst: Categorical Pose and Shape Estimation of Objects from RGB-D using Signed Distance Fieldscited by 7
  2. 2022Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypointscited by 6
  3. 2023DTF-Net: Category-Level Pose Estimation and Shape Reconstruction via Deformable Template Fieldcited by 5
  4. 2023Physics-Based Rigid Body Object Tracking and Friction Filtering From RGB-D Videoscited by 3
  5. 2023RGB-D-Based Categorical Object Pose and Shape Estimation: Methods, Datasets, and Evaluationcited by 2
  6. 2023TransPoser: Transformer as an Optimizer for Joint Object Shape and Pose Estimationcited by 2
  7. 2023Category-level Shape Estimation for Densely Cluttered Objectscited by 1
  8. 2023MV-ROPE: Multi-view Constraints for Robust Category-level Object Pose and Size Estimationcited by 1
  9. 2024ShapeICP: Iterative Category-level Object Pose and Shape Estimation from Depthcited by 1
  10. 2023Counter-Hypothetical Particle Filters for Single Object Pose Trackingcited by 0
  11. 2024SABER-6D: Shape Representation Based Implicit Object Pose Estimationcited by 0