mlsanityData to 7 Oct 2026

Object Level Depth Reconstruction for Category Level 6D Object Pose Estimation From Monocular RGB Image

arXiv 2204.01586 ↗First posted 4 Apr 2022cs.CVcited by 29

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Abstract (arXiv)

Recently, RGBD-based category-level 6D object pose estimation has achieved promising improvement in performance, however, the requirement of depth information prohibits broader applications. In order to relieve this problem, this paper proposes a novel approach named Object Level Depth reconstruction Network (OLD-Net) taking only RGB images as input for category-level 6D object pose estimation. We propose to directly predict object-level depth from a monocular RGB image by deforming the category-level shape prior into object-level depth and the canonical NOCS representation. Two novel modules named Normalized Global Position Hints (NGPH) and Shape-aware Decoupled Depth Reconstruction (SDDR) module are introduced to learn high fidelity object-level depth and delicate shape representations. At last, the 6D object pose is solved by aligning the predicted canonical representation with the back-projected object-level depth. Extensive experiments on the challenging CAMERA25 and REAL275 datasets indicate that our model, though simple, achieves state-of-the-art performance.

Key facts. Cited by 29 papers in the map (data through 7 Oct 2026). Builds on 31 of its 39 references that are in the map. First posted on arXiv 4 Apr 2022.

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31 of 39 references.

References · 31

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
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  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
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  7. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  8. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  9. 2019A Survey of Deep Learning Techniques for Autonomous Drivingcited by 401
  10. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  11. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
  12. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
19 more
  1. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  2. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  3. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 237
  4. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  5. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  6. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  7. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 158
  8. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 123
  9. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  10. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  11. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  12. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  13. 2020MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusioncited by 46
  14. 2021Category-Level Metric Scale Object Shape and Pose Estimationcited by 40
  15. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  16. 2021ACR-Pose: Adversarial Canonical Representation Reconstruction Network for Category Level 6D Object Pose Estimationcited by 20
  17. 2019Vision-based Robotic Grasping From Object Localization, Object Pose Estimation to Grasp Estimation for Parallel Grippers: A Reviewcited by 12
  18. 20176D Object Pose Estimation with Depth Images: A Seamless Approach for Robotic Interaction and Augmented Realitycited by 6
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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 2; 2023: 7; 2024: 5; 2025: 9; 2026: 6.

29 papers.

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  1. 2023EmoTalk: Speech-Driven Emotional Disentanglement for 3D Face Animationcited by 141
  2. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  3. 2022Tracking Objects as Pixel-wise Distributionscited by 36
  4. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  5. 2023RGB-based Category-level Object Pose Estimation via Decoupled Metric Scale Recoverycited by 13
  6. 2024LaPose: Laplacian Mixture Shape Modeling for RGB-Based Category-Level Object Pose Estimationcited by 13
  7. 2025Orientation Matters: Making 3D Generative Models Orientation-Alignedcited by 13
  8. 2024UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Imagecited by 12
  9. 2023CHORD: Category-level Hand-held Object Reconstruction via Shape Deformationcited by 10
  10. 2022Pik-Fix: Restoring and Colorizing Old Photoscited by 8
  11. 2023PMMTalk: Speech-Driven 3D Facial Animation from Complementary Pseudo Multi-modal Featurescited by 6
  12. 2024VGG-Tex: A Vivid Geometry-Guided Facial Texture Estimation Model for High Fidelity Monocular 3D Face Reconstructioncited by 6
17 more
  1. 2025GIVEPose: Gradual Intra-class Variation Elimination for RGB-based Category-Level Object Pose Estimationcited by 5
  2. 2025MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Modelcited by 4
  3. 2025Unified Category-Level Object Detection and Pose Estimation from RGB Images using 3D Prototypescited by 3
  4. 2023RGB-D-Based Categorical Object Pose and Shape Estimation: Methods, Datasets, and Evaluationcited by 2
  5. 2023Open Challenges for Monocular Single-shot 6D Object Pose Estimationcited by 2
  6. 2025You Only Pose Once: A Minimalist's Detection Transformer for Monocular RGB Category-level 9D Multi-Object Pose Estimationcited by 1
  7. 2026CanoVerse: 3D Object Scalable Canonicalization and Dataset for Generation and Posecited by 1
  8. 2024Category Level 6D Object Pose Estimation from a Single RGB Image using Diffusioncited by 0
  9. 2025Glissando-Net: Deep sinGLe vIew category level poSe eStimation ANd 3D recOnstructioncited by 0
  10. 2025PoseIDON: 6DoF Pose Estimation with Foundation Model Features for Marine Sediment Burial Mappingcited by 0
  11. 2025RCGNet: RGB-based Category-Level 6D Object Pose Estimation with Geometric Guidancecited by 0
  12. 2025PoseGAM: Robust Unseen Object Pose Estimation via Geometry-Aware Multi-View Reasoningcited by 0
  13. 2026Object Pose Transformer: Unifying Unseen Object Pose Estimationcited by 0
  14. 2026Emergence of a Shared Canonical Object Frame from In-the-Wild Videoscited by 0
  15. 2026XiDepth: a Lightweight and Efficient Network for Self-supervised Monocular Depth Estimationcited by 0
  16. 2026PriorPose: Reference-Guided Joint Deformation and Alignment for Category-Level Object Pose Estimationcited by 0
  17. 2026GenCOPE: Syn2Real Generalized Category-Level Object Pose Estimation for Robotic Pickingcited by 0