mlsanityData to 7 Oct 2026

6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark

arXiv 2203.05701 ↗First posted 11 Mar 2022cs.RO cs.CVcited by 85

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Abstract (arXiv)

We present a new dataset for 6-DoF pose estimation of known objects, with a focus on robotic manipulation research. We propose a set of toy grocery objects, whose physical instantiations are readily available for purchase and are appropriately sized for robotic grasping and manipulation. We provide 3D scanned textured models of these objects, suitable for generating synthetic training data, as well as RGBD images of the objects in challenging, cluttered scenes exhibiting partial occlusion, extreme lighting variations, multiple instances per image, and a large variety of poses. Using semi-automated RGBD-to-model texture correspondences, the images are annotated with ground truth poses accurate within a few millimeters. We also propose a new pose evaluation metric called ADD-H based on the Hungarian assignment algorithm that is robust to symmetries in object geometry without requiring their explicit enumeration. We share pre-trained pose estimators for all the toy grocery objects, along with their baseline performance on both validation and test sets. We offer this dataset to the community to help connect the efforts of computer vision researchers with the needs of roboticists.

Key facts. Cited by 85 papers in the map (data through 7 Oct 2026). Builds on 25 of its 39 references that are in the map. First posted on arXiv 11 Mar 2022.

Builds on

25 of 39 references.

References · 25

  1. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,401
  2. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  3. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  4. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
  5. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 320
  6. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  7. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  8. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  9. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 237
  10. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  11. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  12. 2020BOP Challenge 2020 on 6D Object Localizationcited by 192
13 more
  1. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  2. 2019CityFlow: A City-Scale Benchmark for Multi-Target Multi-Camera Vehicle Tracking and Re-Identificationcited by 119
  3. 2019HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objectscited by 110
  4. 2018Segmentation-driven 6D Object Pose Estimationcited by 104
  5. 2018Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimationcited by 92
  6. 2020se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domainscited by 87
  7. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  8. 2015Recovering 6D Object Pose and Predicting Next-Best-View in the Crowdcited by 79
  9. 20196-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypointscited by 78
  10. 2019BlenderProccited by 76
  11. 2015A Dataset for Improved RGBD-based Object Detection and Pose Estimation for Warehouse Pick-and-Placecited by 35
  12. 2021NViSII: A Scriptable Tool for Photorealistic Image Generationcited by 24
  13. 2021Multi-View Fusion for Multi-Level Robotic Scene Understandingcited by 17

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 3; 2023: 15; 2024: 22; 2025: 29; 2026: 16.

85 papers.

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  1. 2024ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulationcited by 305
  2. 2022VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priorscited by 135
  3. 2024RoboSpatial: Teaching Spatial Understanding to 2D and 3D Vision-Language Models for Roboticscited by 133
  4. 2025MM-Spatial: Exploring 3D Spatial Understanding in Multimodal LLMscited by 72
  5. 2023BOP Challenge 2022 on Detection, Segmentation and Pose Estimation of Specific Rigid Objectscited by 70
  6. 2023Learning Generalizable Manipulation Policies with Object-Centric 3D Representationscited by 60
  7. 2024BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objectscited by 60
  8. 2024Gen3DSR: Generalizable 3D Scene Reconstruction via Divide and Conquer from a Single Viewcited by 59
  9. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 51
  10. 2023HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructionscited by 47
  11. 2024Vision-based Manipulation from Single Human Video with Open-World Object Graphscited by 46
  12. 2025AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real Worldcited by 46
38 more
  1. 2025ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Modelscited by 43
  2. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  3. 2023D3Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangementcited by 35
  4. 2023TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimationcited by 32
  5. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  6. 2025Rethinking Progression of Memory State in Robotic Manipulation: An Object-Centric Perspectivecited by 20
  7. 2025BOP Challenge 2024 on Model-Based and Model-Free 6D Object Pose Estimationcited by 18
  8. 2024Object-Centric Instruction Augmentation for Robotic Manipulationcited by 16
  9. 2024P3-PO: Prescriptive Point Priors for Visuo-Spatial Generalization of Robot Policiescited by 16
  10. 2024Language-Guided Object-Centric Diffusion Policy for Generalizable and Collision-Aware Robotic Manipulationcited by 14
  11. 2024PEGASUS: Physically Enhanced Gaussian Splatting Simulation System for 6DoF Object Pose Dataset Generationcited by 13
  12. 2024GRS: Generating Robotic Simulation Tasks from Real-World Imagescited by 13
  13. 2023Diff-DOPE: Differentiable Deep Object Pose Estimationcited by 11
  14. 2025Embodied Intelligence for 3D Understanding: A Survey on 3D Scene Question Answeringcited by 11
  15. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integrationcited by 11
  16. 2022RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Controlcited by 10
  17. 20256D Object Pose Tracking in Internet Videos for Robotic Manipulationcited by 10
  18. 2025SlotVLA: Towards Modeling of Object-Relation Representations in Robotic Manipulationcited by 9
  19. 2025GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenescited by 8
  20. 2025XYZ-IBD: Benchmarking Robust 6D Object Pose Estimation under Real-World Industrial Complexitycited by 7
  21. 2024PARSAC: Accelerating Robust Multi-Model Fitting with Parallel Sample Consensuscited by 6
  22. 2024Task and Motion Planning for Execution in the Realcited by 6
  23. 2023Persistent Homology Meets Object Unity: Object Recognition in Cluttercited by 5
  24. 2023Visual Hindsight Self-Imitation Learning for Interactive Navigationcited by 5
  25. 2025RaySt3R: Predicting Novel Depth Maps for Zero-Shot Object Completioncited by 5
  26. 2026Reconstruction by Generation: 3D Multi-Object Scene Reconstruction from Sparse Observationscited by 5
  27. 2024Realistic Data Generation for 6D Pose Estimation of Surgical Instrumentscited by 4
  28. 2025Multi-Keypoint Affordance Representation for Functional Dexterous Graspingcited by 4
  29. 2023DoUnseen: Tuning-Free Class-Adaptive Object Detection of Unseen Objects for Robotic Graspingcited by 3
  30. 2023RIC: Rotate-Inpaint-Complete for Generalizable Scene Reconstructioncited by 3
  31. 2023WinSyn: A High Resolution Testbed for Synthetic Datacited by 3
  32. 2023FocalPose++: Focal Length and Object Pose Estimation via Render and Comparecited by 3
  33. 2024Learning Embeddings with Centroid Triplet Loss for Object Identification in Robotic Graspingcited by 3
  34. 2024Comparative Evaluation of 3D Reconstruction Methods for Object Pose Estimationcited by 3
  35. 2024BOP-Distrib: Revisiting 6D Pose Estimation Benchmarks for Better Evaluation under Visual Ambiguitiescited by 3
  36. 2024GFreeDet: Exploiting Gaussian Splatting and Foundation Models for Model-free Unseen Object Detection in the BOP Challenge 2024cited by 3
  37. 2025SenseShift6D: Multimodal RGB-D Benchmarking for Robust 6D Pose Estimation across Environment and Sensor Variationscited by 3
  38. 2025HccePose(BF): Predicting Front & Back Surfaces to Construct Ultra-Dense 2D-3D Correspondences for Pose Estimationcited by 3

50 most cited of 85 All 85 (JSON)