mlsanityData to 7 Oct 2026

Focal Length and Object Pose Estimation via Render and Compare

arXiv 2204.05145 ↗First posted 11 Apr 2022cs.CVcited by 17

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Abstract (arXiv)

We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First, we derive a focal length update rule that extends an existing state-of-the-art render-and-compare 6D pose estimator to address the joint estimation task. Second, we investigate several different loss functions for jointly estimating the object pose and focal length. We find that a combination of direct focal length regression with a reprojection loss disentangling the contribution of translation, rotation, and focal length leads to improved results. We show results on three challenging benchmark datasets that depict known 3D models in uncontrolled settings. We demonstrate that our focal length and 6D pose estimates have lower error than the existing state-of-the-art methods.

Key facts. Cited by 17 papers in the map (data through 7 Oct 2026). Builds on 27 of its 50 references that are in the map. First posted on arXiv 11 Apr 2022.

Builds on

27 of 50 references.

References · 27

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  3. 2017Mask R-CNNcited by 7,259
  4. 2021Emerging Properties in Self-Supervised Vision Transformerscited by 6,893
  5. 2016Feature Pyramid Networks for Object Detectioncited by 5,021
  6. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,186
  7. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  8. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  9. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  10. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  11. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  12. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 237
15 more
  1. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  2. 2018Pix3D: Dataset and Methods for Single-Image 3D Shape Modelingcited by 218
  3. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  4. 2019Disentangling Monocular 3D Object Detectioncited by 215
  5. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  6. 2020BOP Challenge 2020 on 6D Object Localizationcited by 192
  7. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  8. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  9. 2018Segmentation-driven 6D Object Pose Estimationcited by 104
  10. 20176-DoF Object Pose from Semantic Keypointscited by 89
  11. 2018Deep Model-Based 6D Pose Refinement in RGBcited by 59
  12. 2019Generalized Feedback Loop for Joint Hand-Object Pose Estimationcited by 22
  13. 2019GP2C: Geometric Projection Parameter Consensus for Joint 3D Pose and Focal Length Estimation in the Wildcited by 9
  14. 20183D Pose Estimation for Fine-Grained Object Categoriescited by 6
  15. 2018Improving Annotation for 3D Pose Dataset of Fine-Grained Object Categoriescited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 7; 2024: 6; 2025: 2; 2026: 1.

17 papers.

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  1. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  2. 2023CamP: Camera Preconditioning for Neural Radiance Fieldscited by 55
  3. 2024SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphscited by 29
  4. 2023Deep Learning for Camera Calibration and Beyond: A Surveycited by 20
  5. 2023Visual Localization using Imperfect 3D Models from the Internetcited by 20
  6. 2023Learning to Estimate 6DoF Pose from Limited Data: A Few-Shot, Generalizable Approach using RGB Imagescited by 18
  7. 2024SHINOBI: Shape and Illumination using Neural Object Decomposition via BRDF Optimization In-the-wildcited by 18
  8. 2023LatentEditor: Text Driven Local Editing of 3D Scenescited by 17
  9. 2024On the representation and methodology for wide and short range head pose estimationcited by 11
  10. 2024Learning Instance-Aware Correspondences for Robust Multi-Instance Point Cloud Registration in Cluttered Scenescited by 7
  11. 2023DisCO: Portrait Distortion Correction with Perspective-Aware 3D GANscited by 6
  12. 2023FocalPose++: Focal Length and Object Pose Estimation via Render and Comparecited by 3
5 more
  1. 2024Marrying NeRF with Feature Matching for One-step Pose Estimationcited by 3
  2. 2024fCOP: Focal Length Estimation from Category-level Object Priorscited by 1
  3. 2025RadGS-Reg: Registering Spine CT with Biplanar X-rays via Joint 3D Radiative Gaussians Reconstruction and 3D/3D Registrationcited by 0
  4. 2025Robust Visual Localization in Compute-Constrained Environments by Salient Edge Rendering and Weighted Hamming Similaritycited by 0
  5. 2026SurfSurg6D: Geometry Consistent Dense Correspondence for Textureless Surgical Instrument Pose Estimationcited by 0