mlsanityData to 7 Oct 2026

Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Dataset

arXiv 2206.15436 ↗First posted 30 Jun 2022cs.CV cs.ROcited by 59

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Abstract (arXiv)

6D object pose estimation is one of the fundamental problems in computer vision and robotics research. While a lot of recent efforts have been made on generalizing pose estimation to novel object instances within the same category, namely category-level 6D pose estimation, it is still restricted in constrained environments given the limited number of annotated data. In this paper, we collect Wild6D, a new unlabeled RGBD object video dataset with diverse instances and backgrounds. We utilize this data to generalize category-level 6D object pose estimation in the wild with semi-supervised learning. We propose a new model, called Rendering for Pose estimation network RePoNet, that is jointly trained using the free ground-truths with the synthetic data, and a silhouette matching objective function on the real-world data. Without using any 3D annotations on real data, our method outperforms state-of-the-art methods on the previous dataset and our Wild6D test set (with manual annotations for evaluation) by a large margin. Project page with Wild6D data: https://oasisyang.github.io/semi-pose .

Key facts. Cited by 59 papers in the map (data through 7 Oct 2026). Builds on 46 of its 71 references that are in the map. First posted on arXiv 30 Jun 2022.

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46 of 71 references.

References · 46

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  3. 2017Mask R-CNNcited by 7,259
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  6. 2016Pyramid Scene Parsing Networkcited by 2,472
  7. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  8. 2021Common Objects in 3D: Large-Scale Learning and Evaluation of Real-life 3D Category Reconstructioncited by 646
  9. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  10. 2019Soft Rasterizer: A Differentiable Renderer for Image-based 3D Reasoningcited by 420
  11. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  12. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 381
34 more
  1. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
  2. 2018Learning Category-Specific Mesh Reconstruction from Image Collectionscited by 317
  3. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  4. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  5. 2020TEASER: Fast and Certifiable Point Cloud Registrationcited by 274
  6. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 237
  7. 20196-DOF GraspNet: Variational Grasp Generation for Object Manipulationcited by 237
  8. 2019Learning to Predict 3D Objects with an Interpolation-based Differentiable Renderercited by 221
  9. 2019Disentangling Monocular 3D Object Detectioncited by 215
  10. 2016UnitBox: An Advanced Object Detection Networkcited by 205
  11. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  12. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  13. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 158
  14. 2020Objectron: A Large Scale Dataset of Object-Centric Videos in the Wild with Pose Annotationscited by 155
  15. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  16. 2020Self-supervised Single-view 3D Reconstruction via Semantic Consistencycited by 127
  17. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 123
  18. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  19. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  20. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  21. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  22. 2020Self6D: Self-Supervised Monocular 6D Object Pose Estimationcited by 79
  23. 2018Making Deep Heatmaps Robust to Partial Occlusions for 3D Object Pose Estimationcited by 74
  24. 2016A Large Dataset of Object Scanscited by 64
  25. 2021RePOSE: Fast 6D Object Pose Refinement via Deep Texture Renderingcited by 63
  26. 2018A Unified Framework for Multi-View Multi-Class Object Pose Estimationcited by 49
  27. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
  28. 2021NeMo: Neural Mesh Models of Contrastive Features for Robust 3D Pose Estimationcited by 41
  29. 2018Learning View Priors for Single-view 3D Reconstructioncited by 35
  30. 2020G2L-Net: Global to Local Network for Real-time 6D Pose Estimation with Embedding Vector Featurescited by 35
  31. 2022CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wildcited by 28
  32. 2020Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Handscited by 26
  33. 2021UDA-COPE: Unsupervised Domain Adaptation for Category-level Object Pose Estimationcited by 25
  34. 2020MobilePose: Real-Time Pose Estimation for Unseen Objects with Weak Shape Supervisioncited by 16

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 3; 2023: 12; 2024: 16; 2025: 13; 2026: 15.

59 papers.

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  1. 2024BLINK: Multimodal Large Language Models Can See but Not Perceivecited by 529
  2. 2024HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videoscited by 122
  3. 2024RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videoscited by 113
  4. 2025Learning from Videos for 3D World: Enhancing MLLMs with 3D Vision Geometry Priorscited by 111
  5. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 51
  6. 2023DiffCAD: Weakly-Supervised Probabilistic CAD Model Retrieval and Alignment from an RGB Imagecited by 48
  7. 2024Omni6DPose: A Benchmark and Model for Universal 6D Object Pose Estimation and Trackingcited by 48
  8. 2023HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructionscited by 47
  9. 2024Introducing HOT3D: An Egocentric Dataset for 3D Hand and Object Trackingcited by 46
  10. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 40
  11. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  12. 2023TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimationcited by 32
38 more
  1. 2024ImageNet3D: Towards General-Purpose Object-Level 3D Understandingcited by 25
  2. 2022Self-Supervised Geometric Correspondence for Category-Level 6D Object Pose Estimation in the Wildcited by 22
  3. 2024OmniNOCS: A unified NOCS dataset and model for 3D lifting of 2D objectscited by 22
  4. 2023FSD: Fast Self-Supervised Single RGB-D to Categorical 3D Objectscited by 18
  5. 20233D-Aware Visual Question Answering about Parts, Poses and Occlusionscited by 16
  6. 2025Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimationcited by 16
  7. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 16
  8. 2023PoseMatcher: One-shot 6D Object Pose Estimation by Deep Feature Matchingcited by 12
  9. 2023GS-Pose: Category-Level Object Pose Estimation via Geometric and Semantic Correspondencecited by 12
  10. 2023PACE: A Large-Scale Dataset with Pose Annotations in Cluttered Environmentscited by 11
  11. 2024Omni6D: Large-Vocabulary 3D Object Dataset for Category-Level 6D Object Pose Estimationcited by 11
  12. 2023CHORD: Category-level Hand-held Object Reconstruction via Shape Deformationcited by 10
  13. 2024OV9D: Open-Vocabulary Category-Level 9D Object Pose and Size Estimationcited by 10
  14. 2024CRISP: Object Pose and Shape Estimation with Test-Time Adaptationcited by 9
  15. 2025CleanPose: Category-Level Object Pose Estimation via Causal Learning and Knowledge Distillationcited by 9
  16. 2022CPPF++: Uncertainty-Aware Sim2Real Object Pose Estimation by Vote Aggregationcited by 6
  17. 2023SA6D: Self-Adaptive Few-Shot 6D Pose Estimator for Novel and Occluded Objectscited by 6
  18. 2024Unsupervised Learning of Category-Level 3D Pose from Object-Centric Videoscited by 5
  19. 2024Category-level Object Detection, Pose Estimation and Reconstruction from Stereo Imagescited by 5
  20. 2025GIVEPose: Gradual Intra-class Variation Elimination for RGB-based Category-Level Object Pose Estimationcited by 5
  21. 2025MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Modelcited by 4
  22. 2026Picasso: Holistic Scene Reconstruction with Physics-Constrained Samplingcited by 4
  23. 2024Towards Real-World Aerial Vision Guidance with Categorical 6D Pose Trackercited by 3
  24. 2023RGB-D-Based Categorical Object Pose and Shape Estimation: Methods, Datasets, and Evaluationcited by 2
  25. 2025Box Pose and Shape Estimation and Domain Adaptation for Large-Scale Warehouse Automationcited by 2
  26. 2025Understanding Task Transfer in Vision-Language Modelscited by 2
  27. 2024Synthetic data enables faster annotation and robust segmentation for multi-object grasping in cluttercited by 1
  28. 2024Diffusion-Driven Self-Supervised Learning for Shape Reconstruction and Pose Estimationcited by 1
  29. 2026COG: Confidence-aware Optimal Geometric Correspondence for Unsupervised Single-reference Novel Object Pose Estimationcited by 1
  30. 2026MemPose: Category-level Object Pose Estimation with Memorycited by 1
  31. 2025Universal Features Guided Zero-Shot Category-Level Object Pose Estimationcited by 0
  32. 2025FloPE: Flower Pose Estimation for Precision Pollinationcited by 0
  33. 2025DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarioscited by 0
  34. 2025RCGNet: RGB-based Category-Level 6D Object Pose Estimation with Geometric Guidancecited by 0
  35. 2025Exploring Category-level Articulated Object Pose Tracking on SE(3) Manifoldscited by 0
  36. 2026Learning Positive-Incentive Point Sampling in Neural Implicit Fields for Object Pose Estimationcited by 0
  37. 2026UniPR: Unified Object-level Real-to-Sim Perception and Reconstruction from a Single Stereo Paircited by 0
  38. 2026HACMatch Semi-Supervised Rotation Regression with Hardness-Aware Curriculum Pseudo Labelingcited by 0

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