mlsanityData to 7 Oct 2026

HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillation

arXiv 2204.09429 ↗First posted 20 Apr 2022cs.CV cs.LG cs.ROcited by 11

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Abstract (arXiv)

Real-time 6D object pose estimation is essential for many real-world applications, such as robotic grasping and augmented reality. To achieve an accurate object pose estimation from RGB images in real-time, we propose an effective and lightweight model, namely High-Resolution 6D Pose Estimation Network (HRPose). We adopt the efficient and small HRNetV2-W18 as a feature extractor to reduce computational burdens while generating accurate 6D poses. With only 33% of the model size and lower computational costs, our HRPose achieves comparable performance compared with state-of-the-art models. Moreover, by transferring knowledge from a large model to our proposed HRPose through output and feature-similarity distillations, the performance of our HRPose is improved in effectiveness and efficiency. Numerical experiments on the widely-used benchmark LINEMOD demonstrate the superiority of our proposed HRPose against state-of-the-art methods.

Key facts. Cited by 11 papers in the map (data through 7 Oct 2026). Builds on 26 of its 51 references that are in the map. First posted on arXiv 20 Apr 2022.

Builds on

26 of 51 references.

References · 26

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  11. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  12. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
14 more
  1. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  2. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 237
  3. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  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. 2017PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimationcited by 170
  8. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  9. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  10. 2018Making Deep Heatmaps Robust to Partial Occlusions for 3D Object Pose Estimationcited by 74
  11. 2016Analysis and Observations from the First Amazon Picking Challengecited by 41
  12. 2021Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Drivingcited by 36
  13. 2022A Cooperation-Aware Lane Change Method for Autonomous Vehiclescited by 3
  14. 2020Squeezed Deep 6DoF Object Detection Using Knowledge Distillationcited by 2

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 0; 2024: 2; 2025: 7; 2026: 1.

11 papers.

  1. 2026Orient Anything V2: Unifying Orientation and Rotation Understandingcited by 22
  2. 2025Frequency Dynamic Convolution for Dense Image Predictioncited by 19
  3. 2025Distilling Monocular Foundation Model for Fine-grained Depth Completioncited by 14
  4. 2022Knowledge Distillation for 6D Pose Estimation by Aligning Distributions of Local Predictionscited by 9
  5. 2025GenSpace: Benchmarking Spatially-Aware Image Generationcited by 9
  6. 2025Uncertainty-Aware Knowledge Distillation for Compact and Efficient 6DoF Pose Estimationcited by 5
  7. 2025Distilling 3D distinctive local descriptors for 6D pose estimationcited by 4
  8. 2024EdgeOAR: Real-time Online Action Recognition On Edge Devicescited by 1
  9. 2025FPG-NAS: FLOPs-Aware Gated Differentiable Neural Architecture Search for Efficient 6DoF Pose Estimationcited by 1
  10. 2024SEMPose: A Single End-to-end Network for Multi-object Pose Estimationcited by 0
  11. 2025Sybil-based Virtual Data Poisoning Attacks in Federated Learningcited by 0