mlsanityData to 7 Oct 2026

ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimation

arXiv 2203.09418 ↗First posted 17 Mar 2022cs.CVcited by 115

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Abstract (arXiv)

Establishing correspondences from image to 3D has been a key task of 6DoF object pose estimation for a long time. To predict pose more accurately, deeply learned dense maps replaced sparse templates. Dense methods also improved pose estimation in the presence of occlusion. More recently researchers have shown improvements by learning object fragments as segmentation. In this work, we present a discrete descriptor, which can represent the object surface densely. By incorporating a hierarchical binary grouping, we can encode the object surface very efficiently. Moreover, we propose a coarse to fine training strategy, which enables fine-grained correspondence prediction. Finally, by matching predicted codes with object surface and using a PnP solver, we estimate the 6DoF pose. Results on the public LM-O and YCB-V datasets show major improvement over the state of the art w.r.t. ADD(-S) metric, even surpassing RGB-D based methods in some cases.

Key facts. Cited by 115 papers in the map (data through 7 Oct 2026). Builds on 41 of its 74 references that are in the map. First posted on arXiv 17 Mar 2022.

Builds on

41 of 74 references.

References · 41

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  3. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,617
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  5. 2019FCOS: Fully Convolutional One-Stage Object Detectioncited by 1,573
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  7. 2020ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAMcited by 862
  8. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  9. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  10. 2017Neural 3D Mesh Renderercited by 437
  11. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  12. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
29 more
  1. 2016DSAC - Differentiable RANSAC for Camera Localizationcited by 264
  2. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  3. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  4. 2019Learning to Predict 3D Objects with an Interpolation-based Differentiable Renderercited by 221
  5. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  6. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  7. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  8. 2019Category-Level Articulated Object Pose Estimationcited by 158
  9. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  10. 2017Learning Less is More - 6D Camera Localization via 3D Surface Regressioncited by 146
  11. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  12. 2019Neural-Guided RANSAC: Learning Where to Sample Model Hypothesescited by 129
  13. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  14. 2018Segmentation-driven 6D Object Pose Estimationcited by 104
  15. 2019Single-Stage 6D Object Pose Estimationcited by 88
  16. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  17. 2020Self6D: Self-Supervised Monocular 6D Object Pose Estimationcited by 79
  18. 2018Making Deep Heatmaps Robust to Partial Occlusions for 3D Object Pose Estimationcited by 74
  19. 2018Explaining the Ambiguity of Object Detection and 6D Pose From Visual Datacited by 68
  20. 2021RePOSE: Fast 6D Object Pose Refinement via Deep Texture Renderingcited by 63
  21. 2015Learning Descriptors for Object Recognition and 3D Pose Estimationcited by 60
  22. 2018Deep Model-Based 6D Pose Refinement in RGBcited by 59
  23. 2019DeceptionNet: Network-Driven Domain Randomizationcited by 43
  24. 2019Progressive-X: Efficient, Anytime, Multi-Model Fitting Algorithmcited by 43
  25. 2020I Like to Move It: 6D Pose Estimation as an Action Decision Processcited by 22
  26. 2021PR-GCN: A Deep Graph Convolutional Network with Point Refinement for 6D Pose Estimationcited by 17
  27. 20186D Pose Estimation using an Improved Method based on Point Pair Featurescited by 11
  28. 2017Camera Pose Filtering with Local Regression Geodesics on the Riemannian Manifold of Dual Quaternionscited by 8
  29. 2018Dealing with Ambiguity in Robotic Grasping via Multiple Predictionscited by 4

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 9; 2023: 33; 2024: 32; 2025: 26; 2026: 15.

115 papers.

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  1. 2023TAPIR: Tracking Any Point with per-frame Initialization and temporal Refinementcited by 281
  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. 2023CNOS: A Strong Baseline for CAD-based Novel Object Segmentationcited by 86
  5. 2023BOP Challenge 2022 on Detection, Segmentation and Pose Estimation of Specific Rigid Objectscited by 70
  6. 2024BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objectscited by 60
  7. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 52
  8. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 47
  9. 2023ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformerscited by 45
  10. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  11. 2023NOPE: Novel Object Pose Estimation from a Single Imagecited by 38
  12. 2024GenFlow: Generalizable Recurrent Flow for 6D Pose Refinement of Novel Objectscited by 32
38 more
  1. 2023Open-vocabulary object 6D pose estimationcited by 29
  2. 2024Joint Reconstruction of 3D Human and Object via Contact-Based Refinement Transformercited by 29
  3. 2024MatchU: Matching Unseen Objects for 6D Pose Estimation from RGB-D Imagescited by 28
  4. 20236D-Diff: A Keypoint Diffusion Framework for 6D Object Pose Estimationcited by 24
  5. 2024DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimationcited by 24
  6. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  7. 2023ZeroPose: CAD-Prompted Zero-shot Object 6D Pose Estimation in Cluttered Scenescited by 20
  8. 2023Learning to Estimate 6DoF Pose from Limited Data: A Few-Shot, Generalizable Approach using RGB Imagescited by 18
  9. 2022SC6D: Symmetry-agnostic and Correspondence-free 6D Object Pose Estimationcited by 17
  10. 2023Shape-Constraint Recurrent Flow for 6D Object Pose Estimationcited by 17
  11. 2023HiPose: Hierarchical Binary Surface Encoding and Correspondence Pruning for RGB-D 6DoF Object Pose Estimationcited by 17
  12. 2023Deep Fusion Transformer Network with Weighted Vector-Wise Keypoints Voting for Robust 6D Object Pose Estimationcited by 16
  13. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 16
  14. 2022CRT-6D: Fast 6D Object Pose Estimation with Cascaded Refinement Transformerscited by 15
  15. 2023CheckerPose: Progressive Dense Keypoint Localization for Object Pose Estimation with Graph Neural Networkcited by 15
  16. 2024GS-Pose: Generalizable Segmentation-based 6D Object Pose Estimation with 3D Gaussian Splattingcited by 14
  17. 2023Rigidity-Aware Detection for 6D Object Pose Estimationcited by 13
  18. 2024LaPose: Laplacian Mixture Shape Modeling for RGB-Based Category-Level Object Pose Estimationcited by 13
  19. 20233D-Aware Hypothesis & Verification for Generalizable Relative Object Pose Estimationcited by 11
  20. 2024MRC-Net: 6-DoF Pose Estimation with MultiScale Residual Correlationcited by 11
  21. 2022COPE: End-to-end trainable Constant Runtime Object Pose Estimationcited by 10
  22. 2024Zero123-6D: Zero-shot Novel View Synthesis for RGB Category-level 6D Pose Estimationcited by 10
  23. 2024High-resolution open-vocabulary object 6D pose estimationcited by 10
  24. 2022Knowledge Distillation for 6D Pose Estimation by Aligning Distributions of Local Predictionscited by 9
  25. 2022LocPoseNet: Robust Location Prior for Unseen Object Pose Estimationcited by 9
  26. 2023Pseudo Flow Consistency for Self-Supervised 6D Object Pose Estimationcited by 9
  27. 2024GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinementcited by 8
  28. 2023Revisiting Fully Convolutional Geometric Features for Object 6D Pose Estimationcited by 7
  29. 2023TransPose: 6D Object Pose Estimation with Geometry-Aware Transformercited by 7
  30. 2024Learning Instance-Aware Correspondences for Robust Multi-Instance Point Cloud Registration in Cluttered Scenescited by 7
  31. 2026EgoGrasp: World-Space Hand-Object Interaction Estimation from Egocentric Videoscited by 7
  32. 2022Ambiguity-Aware Multi-Object Pose Optimization for Visually-Assisted Robot Manipulationcited by 6
  33. 2023Linear-Covariance Loss for End-to-End Learning of 6D Pose Estimationcited by 6
  34. 2024RDPN6D: Residual-based Dense Point-wise Network for 6Dof Object Pose Estimation Based on RGB-D Imagescited by 5
  35. 2025GIVEPose: Gradual Intra-class Variation Elimination for RGB-based Category-Level Object Pose Estimationcited by 5
  36. 2025PicoPose: Progressive Pixel-to-Pixel Correspondence Learning for Novel Object Pose Estimationcited by 5
  37. 2025ConceptPose: Training-Free Zero-Shot Object Pose Estimation using Concept Vectorscited by 5
  38. 2023SyMFM6D: Symmetry-aware Multi-directional Fusion for Multi-View 6D Object Pose Estimationcited by 4

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