mlsanityData to 14 Oct 2026

Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusions

arXiv 2203.17234 ↗First posted 31 Mar 2022cs.CVcited by 54

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Abstract (arXiv)

We present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions. Our method requires neither a training phase on these objects nor real images depicting them, only their CAD models. It relies on a small set of training objects to learn local object representations, which allow us to locally match the input image to a set of "templates", rendered images of the CAD models for the new objects. In contrast with the state-of-the-art methods, the new objects on which our method is applied can be very different from the training objects. As a result, we are the first to show generalization without retraining on the LINEMOD and Occlusion-LINEMOD datasets. Our analysis of the failure modes of previous template-based approaches further confirms the benefits of local features for template matching. We outperform the state-of-the-art template matching methods on the LINEMOD, Occlusion-LINEMOD and T-LESS datasets. Our source code and data are publicly available at https://github.com/nv-nguyen/template-pose

Key facts. Cited by 54 papers in the map (data through 14 Oct 2026). Builds on 34 of its 45 references that are in the map. First posted on arXiv 31 Mar 2022.

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34 of 45 references.

References · 34

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2020A Simple Framework for Contrastive Learning of Visual Representationscited by 12,049
  3. 2018Representation Learning with Contrastive Predictive Codingcited by 7,777
  4. 2019Momentum Contrast for Unsupervised Visual Representation Learningcited by 7,513
  5. 2020Unsupervised Learning of Visual Features by Contrasting Cluster Assignmentscited by 2,857
  6. 2020Improved Baselines with Momentum Contrastive Learningcited by 2,287
  7. 2018Unsupervised Feature Learning via Non-Parametric Instance-level Discriminationcited by 1,845
  8. 2020Big Self-Supervised Models are Strong Semi-Supervised Learnerscited by 1,380
  9. 2019Contrastive Multiview Codingcited by 1,301
  10. 2018Learning deep representations by mutual information estimation and maximizationcited by 1,273
  11. 2019Self-Supervised Learning of Pretext-Invariant Representationscited by 808
  12. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
22 more
  1. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  2. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  3. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  4. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  5. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 241
  6. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  7. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  8. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  9. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  10. 2020BOP Challenge 2020 on 6D Object Localizationcited by 193
  11. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  12. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  13. 2018Segmentation-driven 6D Object Pose Estimationcited by 104
  14. 2019Single-Stage 6D Object Pose Estimationcited by 88
  15. 2018Making Deep Heatmaps Robust to Partial Occlusions for 3D Object Pose Estimationcited by 74
  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. 2018StarMap for Category-Agnostic Keypoint and Viewpoint Estimationcited by 42
  19. 2019Pose from Shape: Deep Pose Estimation for Arbitrary 3D Objectscited by 39
  20. 20203D Object Detection and Pose Estimation of Unseen Objects in Color Images with Local Surface Embeddingscited by 22
  21. 2021PoseContrast: Class-Agnostic Object Viewpoint Estimation in the Wild with Pose-Aware Contrastive Learningcited by 19
  22. 2020Neural Object Learning for 6D Pose Estimation Using a Few Cluttered Imagescited by 14

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 5; 2023: 19; 2024: 13; 2025: 13; 2026: 4.

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  1. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 429
  2. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 201
  3. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 121
  4. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 117
  5. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 114
  6. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  7. 2023CNOS: A Strong Baseline for CAD-based Novel Object Segmentationcited by 87
  8. 2024BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objectscited by 60
  9. 2023FreeZe: Training-free zero-shot 6D pose estimation with geometric and vision foundation modelscited by 57
  10. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 49
  11. 2023ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformerscited by 45
  12. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
38 more
  1. 2023NOPE: Novel Object Pose Estimation from a Single Imagecited by 38
  2. 2024GenFlow: Generalizable Recurrent Flow for 6D Pose Refinement of Novel Objectscited by 33
  3. 2024Line-based 6-DoF Object Pose Estimation and Tracking With an Event Cameracited by 29
  4. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  5. 2023ZeroPose: CAD-Prompted Zero-shot Object 6D Pose Estimation in Cluttered Scenescited by 20
  6. 2023Deep Fusion Transformer Network with Weighted Vector-Wise Keypoints Voting for Robust 6D Object Pose Estimationcited by 16
  7. 2022PIZZA: A Powerful Image-only Zero-Shot Zero-CAD Approach to 6 DoF Trackingcited by 15
  8. 2024GS-Pose: Generalizable Segmentation-based 6D Object Pose Estimation with 3D Gaussian Splattingcited by 15
  9. 2025Co-op: Correspondence-based Novel Object Pose Estimationcited by 14
  10. 2025Accurate and efficient zero-shot 6D pose estimation with frozen foundation modelscited by 13
  11. 2022Certifiable 3D Object Pose Estimation: Foundations, Learning Models, and Self-Trainingcited by 12
  12. 2024Object Pose Estimation via the Aggregation of Diffusion Featurescited by 12
  13. 2024UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Imagecited by 12
  14. 20233D-Aware Hypothesis & Verification for Generalizable Relative Object Pose Estimationcited by 11
  15. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integrationcited by 11
  16. 20256D Object Pose Tracking in Internet Videos for Robotic Manipulationcited by 10
  17. 2025GoTrack: Generic 6DoF Object Pose Refinement and Trackingcited by 10
  18. 2023Self-supervised Vision Transformers for 3D Pose Estimation of Novel Objectscited by 9
  19. 2023Generalizing Single-View 3D Shape Retrieval to Occlusions and Unseen Objectscited by 8
  20. 2024GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinementcited by 8
  21. 2023KeyMatchNet: Zero-Shot Pose Estimation in 3D Point Clouds by Generalized Keypoint Matchingcited by 7
  22. 2022CPPF++: Uncertainty-Aware Sim2Real Object Pose Estimation by Vote Aggregationcited by 6
  23. 2025RGBTrack: Fast, Robust Depth-Free 6D Pose Estimation and Trackingcited by 6
  24. 2024Extreme Two-View Geometry From Object Poses with Diffusion Modelscited by 4
  25. 2024Diffusion Features for Zero-Shot 6DoF Object Pose Estimationcited by 4
  26. 2025Corr2Distrib: Making Ambiguous Correspondences an Ally to Predict Reliable 6D Pose Distributionscited by 3
  27. 2025MUSE: Model-based Uncertainty-aware Similarity Estimation for zero-shot 2D Object Detection and Segmentationcited by 3
  28. 2023Open Challenges for Monocular Single-shot 6D Object Pose Estimationcited by 2
  29. 2025Reasoning and Learning a Perceptual Metric for Self-Training of Reflective Objects in Bin-Picking with a Low-cost Cameracited by 2
  30. 2025Beyond 'Templates': Category-Agnostic Object Pose, Size, and Shape Estimation from a Single Viewcited by 2
  31. 2023Robust 6DoF Pose Estimation Against Depth Noise and a Comprehensive Evaluation on a Mobile Datasetcited by 1
  32. 2024Object Pose Estimation Using Implicit Representation For Transparent Objectscited by 1
  33. 2024Generalizable Single-view Object Pose Estimation by Two-side Generating and Matchingcited by 1
  34. 2025Foundation Feature-Driven Online End-Effector Pose Estimation: A Marker-Free and Learning-Free Approachcited by 1
  35. 2026Event-based Motion & Appearance Fusion for 6D Object Pose Trackingcited by 1
  36. 2023Object Pose Estimation Annotation Pipeline for Multi-view Monocular Camera Systems in Industrial Settingscited by 0
  37. 2024Towards Human-Level 3D Relative Pose Estimation: Generalizable, Training-Free, with Single Referencecited by 0
  38. 2025MVTOP: Multi-View Transformer-based Object Pose-Estimationcited by 0

50 most cited of 54 All 54 (JSON)