mlsanityData to 14 Oct 2026

Coupled Iterative Refinement for 6D Multi-Object Pose Estimation

arXiv 2204.12516 ↗First posted 26 Apr 2022cs.CVcited by 48

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Abstract (arXiv)

We address the task of 6D multi-object pose: given a set of known 3D objects and an RGB or RGB-D input image, we detect and estimate the 6D pose of each object. We propose a new approach to 6D object pose estimation which consists of an end-to-end differentiable architecture that makes use of geometric knowledge. Our approach iteratively refines both pose and correspondence in a tightly coupled manner, allowing us to dynamically remove outliers to improve accuracy. We use a novel differentiable layer to perform pose refinement by solving an optimization problem we refer to as Bidirectional Depth-Augmented Perspective-N-Point (BD-PnP). Our method achieves state-of-the-art accuracy on standard 6D Object Pose benchmarks. Code is available at https://github.com/princeton-vl/Coupled-Iterative-Refinement.

Key facts. Cited by 48 papers in the map (data through 14 Oct 2026). Builds on 21 of its 41 references that are in the map. First posted on arXiv 26 Apr 2022.

Builds on

21 of 41 references.

References · 21

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2017Mask R-CNNcited by 7,277
  3. 2019EfficientNet: Rethinking Model Scaling for Convolutional Neural Networkscited by 6,442
  4. 2020RAFT: Recurrent All-Pairs Field Transforms for Optical Flowcited by 2,415
  5. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,214
  6. 2020Accelerating 3D Deep Learning with PyTorch3Dcited by 784
  7. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  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. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  12. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
9 more
  1. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  2. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  3. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  4. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  5. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 148
  6. 2020RAFT-3D: Scene Flow using Rigid-Motion Embeddingscited by 122
  7. 20176-DoF Object Pose from Semantic Keypointscited by 89
  8. 2019End-to-End Learnable Geometric Vision by Backpropagating PnP Optimizationcited by 65
  9. 2020Solving the Blind Perspective-n-Point Problem End-To-End With Robust Differentiable Geometric Optimizationcited by 38

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 4; 2023: 21; 2024: 15; 2025: 4; 2026: 4.

48 papers.

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  1. 2023TAPIR: Tracking Any Point with per-frame Initialization and temporal Refinementcited by 287
  2. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 201
  3. 2023Infinite Photorealistic Worlds using Procedural Generationcited by 147
  4. 2024Infinigen Indoors: Photorealistic Indoor Scenes using Procedural Generationcited by 137
  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. 2023ReFit: Recurrent Fitting Network for 3D Human Recoverycited by 47
  8. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  9. 2024GenFlow: Generalizable Recurrent Flow for 6D Pose Refinement of Novel Objectscited by 33
  10. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  11. 2023ZeroPose: CAD-Prompted Zero-shot Object 6D Pose Estimation in Cluttered Scenescited by 20
  12. 2023Shape-Constraint Recurrent Flow for 6D Object Pose Estimationcited by 17
36 more
  1. 2023HiPose: Hierarchical Binary Surface Encoding and Correspondence Pruning for RGB-D 6DoF Object Pose Estimationcited by 17
  2. 2023CheckerPose: Progressive Dense Keypoint Localization for Object Pose Estimation with Graph Neural Networkcited by 15
  3. 2024LaPose: Laplacian Mixture Shape Modeling for RGB-Based Category-Level Object Pose Estimationcited by 14
  4. 2025Co-op: Correspondence-based Novel Object Pose Estimationcited by 14
  5. 2023Rigidity-Aware Detection for 6D Object Pose Estimationcited by 13
  6. 2023OOD-CV-v2: An extended Benchmark for Robustness to Out-of-Distribution Shifts of Individual Nuisances in Natural Imagescited by 12
  7. 2023Diff-DOPE: Differentiable Deep Object Pose Estimationcited by 11
  8. 2024MRC-Net: 6-DoF Pose Estimation with MultiScale Residual Correlationcited by 11
  9. 2022COPE: End-to-end trainable Constant Runtime Object Pose Estimationcited by 10
  10. 20236D Object Pose Estimation from Approximate 3D Models for Orbital Roboticscited by 10
  11. 2023Pseudo Flow Consistency for Self-Supervised 6D Object Pose Estimationcited by 9
  12. 2022Ambiguity-Aware Multi-Object Pose Optimization for Visually-Assisted Robot Manipulationcited by 6
  13. 20233D Neural Embedding Likelihood: Probabilistic Inverse Graphics for Robust 6D Pose Estimationcited by 5
  14. 2023Tracking by 3D Model Estimation of Unknown Objects in Videoscited by 5
  15. 2024Extending 6D Object Pose Estimators for Stereo Visioncited by 5
  16. 2023Physics-Based Rigid Body Object Tracking and Friction Filtering From RGB-D Videoscited by 3
  17. 2024SUP-NeRF: A Streamlined Unification of Pose Estimation and NeRF for Monocular 3D Object Reconstructioncited by 3
  18. 2023Open Challenges for Monocular Single-shot 6D Object Pose Estimationcited by 2
  19. 2023For A More Comprehensive Evaluation of 6DoF Object Pose Trackingcited by 2
  20. 2024End-to-End Probabilistic Geometry-Guided Regression for 6DoF Object Pose Estimationcited by 2
  21. 2022DeepRM: Deep Recurrent Matching for 6D Pose Refinementcited by 1
  22. 2024Leveraging Positional Encoding for Robust Multi-Reference-Based Object 6D Pose Estimationcited by 1
  23. 2024From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layerscited by 1
  24. 2024FAFA: Frequency-Aware Flow-Aided Self-Supervision for Underwater Object Pose Estimationcited by 1
  25. 2025Visuo-Tactile Object Pose Estimation for a Multi-Finger Robot Hand with Low-Resolution In-Hand Tactile Sensingcited by 1
  26. 2026Generative 6D Pose Estimation via Conditional Flow Matchingcited by 1
  27. 2023Key Point-based Orientation Estimation of Strawberries for Robotic Fruit Pickingcited by 0
  28. 2023View-Dependent Octree-based Mesh Extraction in Unbounded Scenes for Procedural Synthetic Datacited by 0
  29. 2024Detection and Pose Estimation of flat, Texture-less Industry Objects on HoloLens using synthetic Trainingcited by 0
  30. 2024Towards Human-Level 3D Relative Pose Estimation: Generalizable, Training-Free, with Single Referencecited by 0
  31. 2024FAST GDRNPP: Improving the Speed of State-of-the-Art 6D Object Pose Estimationcited by 0
  32. 2025DLTPose: 6DoF Pose Estimation From Accurate Dense Surface Point Estimatescited by 0
  33. 2025Active Control Points-based 6DoF Pose Tracking for Industrial Metal Objectscited by 0
  34. 2026ComPose: When to Trust Hands for Object Pose Trackingcited by 0
  35. 2026A Geometry-Driven, Framework-Agnostic Optimization for Object Pose Estimationcited by 0
  36. 2026Foundational feature fusion for conditional flow matching in 6D pose estimationcited by 0