mlsanityData to 14 Oct 2026

RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimation

arXiv 2208.00237 ↗First posted 30 Jul 2022cs.CVcited by 43

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Abstract (arXiv)

Category-level object pose estimation aims to predict the 6D pose as well as the 3D metric size of arbitrary objects from a known set of categories. Recent methods harness shape prior adaptation to map the observed point cloud into the canonical space and apply Umeyama algorithm to recover the pose and size. However, their shape prior integration strategy boosts pose estimation indirectly, which leads to insufficient pose-sensitive feature extraction and slow inference speed. To tackle this problem, in this paper, we propose a novel geometry-guided Residual Object Bounding Box Projection network RBP-Pose that jointly predicts object pose and residual vectors describing the displacements from the shape-prior-indicated object surface projections on the bounding box towards the real surface projections. Such definition of residual vectors is inherently zero-mean and relatively small, and explicitly encapsulates spatial cues of the 3D object for robust and accurate pose regression. We enforce geometry-aware consistency terms to align the predicted pose and residual vectors to further boost performance.

Key facts. Cited by 43 papers in the map (data through 14 Oct 2026). Builds on 43 of its 53 references that are in the map. First posted on arXiv 30 Jul 2022.

Builds on

43 of 53 references.

References · 43

  1. 2017Mask R-CNNcited by 7,277
  2. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  3. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  4. 2019On the Variance of the Adaptive Learning Rate and Beyondcited by 772
  5. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  6. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  7. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  8. 2019Lookahead Optimizer: k steps forward, 1 step backcited by 336
  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. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
31 more
  1. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  2. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  3. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  4. 2020BOP Challenge 2020 on 6D Object Localizationcited by 193
  5. 2020Total3DUnderstanding: Joint Layout, Object Pose and Mesh Reconstruction for Indoor Scenes from a Single Imagecited by 172
  6. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  7. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 161
  8. 2020MonoPair: Monocular 3D Object Detection Using Pairwise Spatial Relationshipscited by 153
  9. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 148
  10. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  11. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  12. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 124
  13. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  14. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  15. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  16. 2019Self-supervised 6D Object Pose Estimation for Robot Manipulationcited by 101
  17. 2021Holistic 3D Scene Understanding from a Single Image with Implicit Representationcited by 94
  18. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  19. 2019Single-Stage 6D Object Pose Estimationcited by 88
  20. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  21. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 84
  22. 2020Gradient Centralization: A New Optimization Technique for Deep Neural Networkscited by 82
  23. 20196-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypointscited by 78
  24. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  25. 2018Explaining the Ambiguity of Object Detection and 6D Pose From Visual Datacited by 68
  26. 2015Learning Descriptors for Object Recognition and 3D Pose Estimationcited by 60
  27. 2018Deep Model-Based 6D Pose Refinement in RGBcited by 59
  28. 2019Multi-path Learning for Object Pose Estimation Across Domainscited by 52
  29. 2018A Unified Framework for Multi-View Multi-Class Object Pose Estimationcited by 49
  30. 2016Deep Learning of Local RGB-D Patches for 3D Object Detection and 6D Pose Estimationcited by 34
  31. 2021ACR-Pose: Adversarial Canonical Representation Reconstruction Network for Category Level 6D Object Pose Estimationcited by 20

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 2; 2023: 13; 2024: 13; 2025: 8; 2026: 7.

43 papers.

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  1. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 53
  2. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 49
  3. 2023GenPose: Generative Category-level Object Pose Estimation via Diffusion Modelscited by 48
  4. 2024Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimationcited by 43
  5. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 41
  6. 2023VI-Net: Boosting Category-level 6D Object Pose Estimation via Learning Decoupled Rotations on the Spherical Representationscited by 41
  7. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  8. 2022OPA-3D: Occlusion-Aware Pixel-Wise Aggregation for Monocular 3D Object Detectioncited by 24
  9. 2022StereoPose: Category-Level 6D Transparent Object Pose Estimation from Stereo Images via Back-View NOCScited by 18
  10. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 18
  11. 2023DDF-HO: Hand-Held Object Reconstruction via Conditional Directed Distance Fieldcited by 17
  12. 2024CLIPose: Category-Level Object Pose Estimation with Pre-trained Vision-Language Knowledgecited by 16
31 more
  1. 2025Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimationcited by 16
  2. 2024LaPose: Laplacian Mixture Shape Modeling for RGB-Based Category-Level Object Pose Estimationcited by 14
  3. 2023SOCS: Semantically-aware Object Coordinate Space for Category-Level 6D Object Pose Estimation under Large Shape Variationscited by 13
  4. 2023U-RED: Unsupervised 3D Shape Retrieval and Deformation for Partial Point Cloudscited by 12
  5. 2023MOHO: Learning Single-view Hand-held Object Reconstruction with Multi-view Occlusion-Aware Supervisioncited by 12
  6. 2023GS-Pose: Category-Level Object Pose Estimation via Geometric and Semantic Correspondencecited by 12
  7. 2024UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Imagecited by 12
  8. 2024Omni6D: Large-Vocabulary 3D Object Dataset for Category-Level 6D Object Pose Estimationcited by 11
  9. 2024PEAR: Phrase-Based Hand-Object Interaction Anticipationcited by 10
  10. 2023ShapeMatcher: Self-Supervised Joint Shape Canonicalization, Segmentation, Retrieval and Deformationcited by 8
  11. 2024GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinementcited by 8
  12. 2024KP-RED: Exploiting Semantic Keypoints for Joint 3D Shape Retrieval and Deformationcited by 6
  13. 2024Polaris: Open-ended Interactive Robotic Manipulation via Syn2Real Visual Grounding and Large Language Modelscited by 6
  14. 2025GIVEPose: Gradual Intra-class Variation Elimination for RGB-based Category-Level Object Pose Estimationcited by 6
  15. 2024Street Gaussians without 3D Object Trackercited by 4
  16. 2025MK-Pose: Category-Level Object Pose Estimation via Multimodal-Based Keypoint Learningcited by 4
  17. 2026ComPose: A Unified Completion-Pose Framework for Robust Category-Level Object Pose Estimationcited by 4
  18. 2023RGB-D-Based Categorical Object Pose and Shape Estimation: Methods, Datasets, and Evaluationcited by 2
  19. 2024ShapeICP: Iterative Category-level Object Pose and Shape Estimation from Depthcited by 2
  20. 2023MV-ROPE: Multi-view Constraints for Robust Category-level Object Pose and Size Estimationcited by 1
  21. 2025Joint Learning of Pose Regression and Denoising Diffusion with Score Scaling Sampling for Category-level 6D Pose Estimationcited by 1
  22. 2026Flow6D: Discrete-to-Continuous Flow Matching for Efficient and Accurate Category-Level 6D Pose Estimationcited by 1
  23. 2026MemPose: Category-level Object Pose Estimation with Memorycited by 1
  24. 2024Category Level 6D Object Pose Estimation from a Single RGB Image using Diffusioncited by 0
  25. 2025Learning Point Cloud Representations with Pose Continuity for Depth-Based Category-Level 6D Object Pose Estimationcited by 0
  26. 2025AnyBox: Efficient Zero-Shot 9DoF Pose Estimation of Boxes for Robotic Manipulationcited by 0
  27. 2025THE-Pose: Topological Prior with Hybrid Graph Fusion for Estimating Category-Level 6D Object Posecited by 0
  28. 2026RFM-Pose:Reinforcement-Guided Flow Matching for Fast Category-Level 6D Pose Estimationcited by 0
  29. 2026DecomPose: Disentangling Cross-Category Optimization Contention for Category-Level 6D Object Pose Estimationcited by 0
  30. 2026ComPose: When to Trust Hands for Object Pose Trackingcited by 0
  31. 2026GenCOPE: Syn2Real Generalized Category-Level Object Pose Estimation for Robotic Pickingcited by 0