mlsanityData to 7 Oct 2026

OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimation

arXiv 2203.01072 ↗First posted 2 Mar 2022cs.CVcited by 43

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Abstract (arXiv)

This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most of the existing methods, it generalizes well on new real-world objects without any fine-tuning. We achieve this by decomposing the 6D pose into viewpoint, in-plane rotation around the camera optical axis and translation, and introducing novel lightweight modules for estimating each component in a cascaded manner. The resulting network contains less than 4M parameters while demonstrating excellent performance on the challenging T-LESS and Occluded LINEMOD datasets without any dataset-specific training. We show that OVE6D outperforms some contemporary deep learning-based pose estimation methods specifically trained for individual objects or datasets with real-world training data. The implementation and the pre-trained model will be made publicly available.

Key facts. Cited by 43 papers in the map (data through 7 Oct 2026). Builds on 44 of its 65 references that are in the map. First posted on arXiv 2 Mar 2022.

Builds on

44 of 65 references.

References · 44

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  7. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,880
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  9. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  10. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  11. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
  12. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
32 more
  1. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  2. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  3. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  4. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  5. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  6. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  7. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  8. 2020BOP Challenge 2020 on 6D Object Localizationcited by 192
  9. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  10. 2018PPFNet: Global Context Aware Local Features for Robust 3D Point Matchingcited by 180
  11. 2017PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimationcited by 170
  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. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  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 123
  17. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  18. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  19. 20176-DoF Object Pose from Semantic Keypointscited by 89
  20. 2019LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimationcited by 88
  21. 2020Self6D: Self-Supervised Monocular 6D Object Pose Estimationcited by 79
  22. 2015Learning Descriptors for Object Recognition and 3D Pose Estimationcited by 60
  23. 2019Multi-path Learning for Object Pose Estimation Across Domainscited by 52
  24. 2020EfficientPose: An efficient, accurate and scalable end-to-end 6D multi object pose estimation approachcited by 46
  25. 2020G2L-Net: Global to Local Network for Real-time 6D Pose Estimation with Embedding Vector Featurescited by 35
  26. 2016Deep Learning of Local RGB-D Patches for 3D Object Detection and 6D Pose Estimationcited by 34
  27. 20206D Object Pose Regression via Supervised Learning on Point Cloudscited by 33
  28. 2021StablePose: Learning 6D Object Poses from Geometrically Stable Patchescited by 17
  29. 2021PR-GCN: A Deep Graph Convolutional Network with Point Refinement for 6D Pose Estimationcited by 17
  30. 2021CloudAAE: Learning 6D Object Pose Regression with On-line Data Synthesis on Point Cloudscited by 15
  31. 20193D Object Instance Recognition and Pose Estimation Using Triplet Loss with Dynamic Margincited by 14
  32. 2018When Regression Meets Manifold Learning for Object Recognition and Pose Estimationcited by 8

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 2; 2023: 13; 2024: 12; 2025: 14; 2026: 2.

43 papers.

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  1. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 411
  2. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  3. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 115
  4. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 113
  5. 2024SpatialPIN: Enhancing Spatial Reasoning Capabilities of Vision-Language Models through Prompting and Interacting 3D Priorscited by 53
  6. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 47
  7. 2023VI-Net: Boosting Category-level 6D Object Pose Estimation via Learning Decoupled Rotations on the Spherical Representationscited by 40
  8. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  9. 2023Open-vocabulary object 6D pose estimationcited by 29
  10. 2024MatchU: Matching Unseen Objects for 6D Pose Estimation from RGB-D Imagescited by 28
  11. 2023ZeroPose: CAD-Prompted Zero-shot Object 6D Pose Estimation in Cluttered Scenescited by 20
  12. 2022SC6D: Symmetry-agnostic and Correspondence-free 6D Object Pose Estimationcited by 17
31 more
  1. 2023HiPose: Hierarchical Binary Surface Encoding and Correspondence Pruning for RGB-D 6DoF Object Pose Estimationcited by 17
  2. 2024GS-Pose: Generalizable Segmentation-based 6D Object Pose Estimation with 3D Gaussian Splattingcited by 14
  3. 2025Accurate and efficient zero-shot 6D pose estimation with frozen foundation modelscited by 13
  4. 2024UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Imagecited by 12
  5. 2023MFOS: Model-Free & One-Shot Object Pose Estimationcited by 10
  6. 2024High-resolution open-vocabulary object 6D pose estimationcited by 10
  7. 2023Depth-based 6DoF Object Pose Estimation using Swin Transformercited by 8
  8. 2024GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinementcited by 8
  9. 2025RGBTrack: Fast, Robust Depth-Free 6D Pose Estimation and Trackingcited by 6
  10. 2023BANSAC: A dynamic BAyesian Network for adaptive SAmple Consensuscited by 5
  11. 2025PicoPose: Progressive Pixel-to-Pixel Correspondence Learning for Novel Object Pose Estimationcited by 5
  12. 2024Extreme Two-View Geometry From Object Poses with Diffusion Modelscited by 4
  13. 2024NeRF-Feat: 6D Object Pose Estimation using Feature Renderingcited by 4
  14. 2025MK-Pose: Category-Level Object Pose Estimation via Multimodal-Based Keypoint Learningcited by 4
  15. 2025RayPose: Ray Bundling Diffusion for Template Views in Unseen 6D Object Pose Estimationcited by 4
  16. 2025Recovering Parametric Scenes from Very Few Time-of-Flight Pixelscited by 3
  17. 2025SurgPose: Generalisable Surgical Instrument Pose Estimation using Zero-Shot Learning and Stereo Visioncited by 2
  18. 2023MSDA: Monocular Self-supervised Domain Adaptation for 6D Object Pose Estimationcited by 1
  19. 2023Robust 6DoF Pose Estimation Against Depth Noise and a Comprehensive Evaluation on a Mobile Datasetcited by 1
  20. 2024Object Pose Estimation Using Implicit Representation For Transparent Objectscited by 1
  21. 2024Generalizable Single-view Object Pose Estimation by Two-side Generating and Matchingcited by 1
  22. 2025DreamGrasp: Zero-Shot 3D Multi-Object Reconstruction from Partial-View Images for Robotic Manipulationcited by 1
  23. 2025SingRef6D: Monocular Novel Object Pose Estimation with a Single RGB Referencecited by 1
  24. 2025Instance-Level Generation for Representation Learningcited by 1
  25. 2025Monocular Visual 8D Pose Estimation for Articulated Bicycles and Cyclistscited by 1
  26. 2024LucidGrasp: Robotic Framework for Autonomous Manipulation of Laboratory Equipment with Different Degrees of Transparency via 6D Pose Estimationcited by 0
  27. 2025Learning Point Cloud Representations with Pose Continuity for Depth-Based Category-Level 6D Object Pose Estimationcited by 0
  28. 2025DKPMV: Dense Keypoints Fusion from Multi-View RGB Frames for 6D Pose Estimation of Textureless Objectscited by 0
  29. 2025Eff-GRot: Efficient and Generalizable Rotation Estimation with Transformerscited by 0
  30. 2026RRTrack: Robust and Recoverable Object 6D Pose Tracking for Dynamic Scenescited by 0
  31. 2026G6D: Geometric Learning-Free RGB-D 6D Pose Solver for Robotic Manipulationcited by 0