mlsanityData to 7 Oct 2026

PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objects

arXiv 2205.08811 ↗First posted 18 May 2022cs.CVcited by 45

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Abstract (arXiv)

Object pose estimation is crucial for robotic applications and augmented reality. Beyond instance level 6D object pose estimation methods, estimating category-level pose and shape has become a promising trend. As such, a new research field needs to be supported by well-designed datasets. To provide a benchmark with high-quality ground truth annotations to the community, we introduce a multimodal dataset for category-level object pose estimation with photometrically challenging objects termed PhoCaL. PhoCaL comprises 60 high quality 3D models of household objects over 8 categories including highly reflective, transparent and symmetric objects. We developed a novel robot-supported multi-modal (RGB, depth, polarisation) data acquisition and annotation process. It ensures sub-millimeter accuracy of the pose for opaque textured, shiny and transparent objects, no motion blur and perfect camera synchronisation. To set a benchmark for our dataset, state-of-the-art RGB-D and monocular RGB methods are evaluated on the challenging scenes of PhoCaL.

Key facts. Cited by 45 papers in the map (data through 7 Oct 2026). Builds on 26 of its 45 references that are in the map. First posted on arXiv 18 May 2022.

Builds on

26 of 45 references.

References · 26

  1. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  2. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  3. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  4. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  5. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  6. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  7. 2019kPAM: KeyPoint Affordances for Category-Level Robotic Manipulationcited by 152
  8. 2019ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulationcited by 124
  9. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 123
  10. 2019HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objectscited by 110
  11. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  12. 2015Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocolscited by 98
14 more
  1. 2018Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimationcited by 92
  2. 2019LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimationcited by 88
  3. 2015Recovering 6D Object Pose and Predicting Next-Best-View in the Crowdcited by 79
  4. 2019KeyPose: Multi-View 3D Labeling and Keypoint Estimation for Transparent Objectscited by 75
  5. 2020EfficientPose: An efficient, accurate and scalable end-to-end 6D multi object pose estimation approachcited by 46
  6. 2021StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimationcited by 40
  7. 2015A Dataset for Improved RGBD-based Object Detection and Pose Estimation for Warehouse Pick-and-Placecited by 35
  8. 2017LabelFusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenescited by 32
  9. 20203D Human Shape Reconstruction from a Polarization Imagecited by 28
  10. 2020I Like to Move It: 6D Pose Estimation as an Action Decision Processcited by 22
  11. 2019Generic Primitive Detection in Point Clouds Using Novel Minimal Quadric Fitscited by 9
  12. 2020CPS++: Improving Class-level 6D Pose and Shape Estimation From Monocular Images With Self-Supervised Learningcited by 7
  13. 2018A Framework for Evaluating 6-DOF Object Trackerscited by 6
  14. 2018A Minimalist Approach to Type-Agnostic Detection of Quadrics in Point Cloudscited by 4

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 6; 2023: 12; 2024: 11; 2025: 10; 2026: 6.

45 papers.

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  1. 2024HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videoscited by 122
  2. 2024RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videoscited by 113
  3. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 51
  4. 2024Omni6DPose: A Benchmark and Model for Universal 6D Object Pose Estimation and Trackingcited by 48
  5. 2023HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructionscited by 47
  6. 2024Introducing HOT3D: An Egocentric Dataset for 3D Hand and Object Trackingcited by 46
  7. 2023Deformable 3D Gaussian Splatting for Animatable Human Avatarscited by 44
  8. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  9. 2023TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimationcited by 32
  10. 2023On the Importance of Accurate Geometry Data for Dense 3D Vision Taskscited by 26
  11. 2022MonoGraspNet: 6-DoF Grasping with a Single RGB Imagecited by 24
  12. 2022TexPose: Neural Texture Learning for Self-Supervised 6D Object Pose Estimationcited by 23
33 more
  1. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  2. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 16
  3. 2023TRansPose: Large-Scale Multispectral Dataset for Transparent Objectcited by 15
  4. 2024LayeredFlow: A Real-World Benchmark for Non-Lambertian Multi-Layer Optical Flowcited by 11
  5. 2024SCRREAM : SCan, Register, REnder And Map:A Framework for Annotating Accurate and Dense 3D Indoor Scenes with a Benchmarkcited by 9
  6. 2025CleanPose: Category-Level Object Pose Estimation via Causal Learning and Knowledge Distillationcited by 9
  7. 2025TranSplat: Surface Embedding-guided 3D Gaussian Splatting for Transparent Object Manipulationcited by 9
  8. 2025Seeing and Seeing Through the Glass: Real and Synthetic Data for Multi-Layer Depth Estimationcited by 8
  9. 2025XYZ-IBD: Benchmarking Robust 6D Object Pose Estimation under Real-World Industrial Complexitycited by 7
  10. 2022CPPF++: Uncertainty-Aware Sim2Real Object Pose Estimation by Vote Aggregationcited by 6
  11. 2024ASDF: Assembly State Detection Utilizing Late Fusion by Integrating 6D Pose Estimationcited by 6
  12. 2024NeRF-Feat: 6D Object Pose Estimation using Feature Renderingcited by 4
  13. 2025MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Modelcited by 4
  14. 2024BOP-Distrib: Revisiting 6D Pose Estimation Benchmarks for Better Evaluation under Visual Ambiguitiescited by 3
  15. 2022Disentangling 3D Attributes from a Single 2D Image: Human Pose, Shape and Garmentcited by 2
  16. 2022Multi-Stage Based Feature Fusion of Multi-Modal Data for Human Activity Recognitioncited by 2
  17. 2023RGB-D-Based Categorical Object Pose and Shape Estimation: Methods, Datasets, and Evaluationcited by 2
  18. 2023S2P3: Self-Supervised Polarimetric Pose Predictioncited by 2
  19. 2025Beyond 'Templates': Category-Agnostic Object Pose, Size, and Shape Estimation from a Single Viewcited by 2
  20. 2023AutoSynth: Learning to Generate 3D Training Data for Object Point Cloud Registrationcited by 1
  21. 2024Adapting Segment Anything Model for Unseen Object Instance Segmentationcited by 1
  22. 2026MessyKitchens: Contact-rich object-level 3D scene reconstructioncited by 1
  23. 2026MultiCam: On-the-fly Multi-Camera Pose Estimation Using Spatiotemporal Overlaps of Known Objectscited by 1
  24. 2023Multi-Modal Dataset Acquisition for Photometrically Challenging Objectcited by 0
  25. 2023Polarimetric Information for Multi-Modal 6D Pose Estimation of Photometrically Challenging Objects with Limited Datacited by 0
  26. 2023Reality's Canvas, Language's Brush: Crafting 3D Avatars from Monocular Videocited by 0
  27. 2025Universal Features Guided Zero-Shot Category-Level Object Pose Estimationcited by 0
  28. 2025Automating 3D Dataset Generation with Neural Radiance Fieldscited by 0
  29. 2025DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarioscited by 0
  30. 2026Exploring 6D Object Pose Estimation with Deformationcited by 0
  31. 2026Every9D-21M: Large-Scale Real-World 9D Canonicalization of Everyday Objectscited by 0
  32. 2026SeeGroup: Multi-Layer Depth Estimation of Transparent Surfaces via Self-Determined Groupingcited by 0
  33. 2026GenCOPE: Syn2Real Generalized Category-Level Object Pose Estimation for Robotic Pickingcited by 0