# Towards Two-view 6D Object Pose Estimation: A Comparative Study on Fusion Strategy

arXiv: https://arxiv.org/abs/2207.00260 · HTML: https://mlsanity.com/paper/2207.00260/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 28 of its 40 references that are in the map.
- First posted on arXiv 1 Jul 2022.

## Builds on (most cited first, 28 of 28)

- [MVSNet: Depth Inference for Unstructured Multi-view Stereo](https://mlsanity.com/paper/1804.02505/) (2018)
- [PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes](https://mlsanity.com/paper/1711.00199/) (2017)
- [Pyramid Stereo Matching Network](https://mlsanity.com/paper/1803.08669/) (2018)
- [Cascade Cost Volume for High-Resolution Multi-View Stereo and Stereo Matching](https://mlsanity.com/paper/1912.06378/) (2019)
- [PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation](https://mlsanity.com/paper/1812.11788/) (2018)
- [DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion](https://mlsanity.com/paper/1901.04780/) (2019)
- [CosyPose: Consistent multi-view multi-object 6D pose estimation](https://mlsanity.com/paper/2008.08465/) (2020)
- [Recurrent MVSNet for High-resolution Multi-view Stereo Depth Inference](https://mlsanity.com/paper/1902.10556/) (2019)
- [BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depth](https://mlsanity.com/paper/1703.10896/) (2017)
- [Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimation](https://mlsanity.com/paper/1908.07433/) (2019)
- [Real-Time Seamless Single Shot 6D Object Pose Prediction](https://mlsanity.com/paper/1711.08848/) (2017)
- [PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation](https://mlsanity.com/paper/1911.04231/) (2019)
- [DPOD: 6D Pose Object Detector and Refiner](https://mlsanity.com/paper/1902.11020/) (2019)
- [Stereo R-CNN based 3D Object Detection for Autonomous Driving](https://mlsanity.com/paper/1902.09738/) (2019)
- [Cost Volume Pyramid Based Depth Inference for Multi-View Stereo](https://mlsanity.com/paper/1912.08329/) (2019)
- [EPOS: Estimating 6D Pose of Objects with Symmetries](https://mlsanity.com/paper/2004.00605/) (2020)
- [GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimator](https://mlsanity.com/paper/2102.12145/) (2021)
- [FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimation](https://mlsanity.com/paper/2103.02242/) (2021)
- [HybridPose: 6D Object Pose Estimation under Hybrid Representations](https://mlsanity.com/paper/2001.01869/) (2020)
- [Single-Stage 6D Object Pose Estimation](https://mlsanity.com/paper/1911.08324/) (2019)
- [SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimation](https://mlsanity.com/paper/2108.08367/) (2021)
- [KeyPose: Multi-View 3D Labeling and Keypoint Estimation for Transparent Objects](https://mlsanity.com/paper/1912.02805/) (2019)
- [Explaining the Ambiguity of Object Detection and 6D Pose From Visual Data](https://mlsanity.com/paper/1812.00287/) (2018)
- [MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusion](https://mlsanity.com/paper/2004.04336/) (2020)
- [StablePose: Learning 6D Object Poses from Geometrically Stable Patches](https://mlsanity.com/paper/2102.09334/) (2021)
- [A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM](https://mlsanity.com/paper/2108.01225/) (2021)
- [REDE: End-to-end Object 6D Pose Robust Estimation Using Differentiable Outliers Elimination](https://mlsanity.com/paper/2010.12807/) (2020)
- [L6DNet: Light 6 DoF Network for Robust and Precise Object Pose Estimation with Small Datasets](https://mlsanity.com/paper/2002.00911/) (2020)

## Abstract (arXiv)

Current RGB-based 6D object pose estimation methods have achieved noticeable performance on datasets and real world applications. However, predicting 6D pose from single 2D image features is susceptible to disturbance from changing of environment and textureless or resemblant object surfaces. Hence, RGB-based methods generally achieve less competitive results than RGBD-based methods, which deploy both image features and 3D structure features. To narrow down this performance gap, this paper proposes a framework for 6D object pose estimation that learns implicit 3D information from 2 RGB images. Combining the learned 3D information and 2D image features, we establish more stable correspondence between the scene and the object models. To seek for the methods best utilizing 3D information from RGB inputs, we conduct an investigation on three different approaches, including Early- Fusion, Mid-Fusion, and Late-Fusion. We ascertain the Mid- Fusion approach is the best approach to restore the most precise 3D keypoints useful for object pose estimation. The experiments show that our method outperforms state-of-the-art RGB-based methods, and achieves comparable results with RGBD-based methods.