mlsanityData to 7 Oct 2026

SC6D: Symmetry-agnostic and Correspondence-free 6D Object Pose Estimation

arXiv 2208.02129 ↗First posted 3 Aug 2022cs.CVcited by 17

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Abstract (arXiv)

This paper presents an efficient symmetry-agnostic and correspondence-free framework, referred to as SC6D, for 6D object pose estimation from a single monocular RGB image. SC6D requires neither the 3D CAD model of the object nor any prior knowledge of the symmetries. The pose estimation is decomposed into three sub-tasks: a) object 3D rotation representation learning and matching; b) estimation of the 2D location of the object center; and c) scale-invariant distance estimation (the translation along the z-axis) via classification. SC6D is evaluated on three benchmark datasets, T-LESS, YCB-V, and ITODD, and results in state-of-the-art performance on the T-LESS dataset. Moreover, SC6D is computationally much more efficient than the previous state-of-the-art method SurfEmb. The implementation and pre-trained models are publicly available at https://github.com/dingdingcai/SC6D-pose.

Key facts. Cited by 17 papers in the map (data through 7 Oct 2026). Builds on 40 of its 57 references that are in the map. First posted on arXiv 3 Aug 2022.

Builds on

40 of 57 references.

References · 40

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28 more
  1. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
  2. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  3. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  4. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  5. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 237
  6. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  7. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  8. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  9. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  10. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  11. 2020BOP Challenge 2020 on 6D Object Localizationcited by 192
  12. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  13. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  14. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  15. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  16. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  17. 2017Graph-Cut RANSACcited by 133
  18. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  19. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  20. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
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  22. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
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  25. 2019Multi-path Learning for Object Pose Estimation Across Domainscited by 52
  26. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  27. 2022DPODv2: Dense Correspondence-Based 6 DoF Pose Estimationcited by 32
  28. 20193D Object Instance Recognition and Pose Estimation Using Triplet Loss with Dynamic Margincited by 14

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 5; 2024: 6; 2025: 2; 2026: 3.

17 papers.

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  1. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  2. 2022CRT-6D: Fast 6D Object Pose Estimation with Cascaded Refinement Transformerscited by 15
  3. 2023CheckerPose: Progressive Dense Keypoint Localization for Object Pose Estimation with Graph Neural Networkcited by 15
  4. 2024GS-Pose: Generalizable Segmentation-based 6D Object Pose Estimation with 3D Gaussian Splattingcited by 14
  5. 2023Rigidity-Aware Detection for 6D Object Pose Estimationcited by 13
  6. 2023PoseMatcher: One-shot 6D Object Pose Estimation by Deep Feature Matchingcited by 12
  7. 2024MRC-Net: 6-DoF Pose Estimation with MultiScale Residual Correlationcited by 11
  8. 2023Pseudo Flow Consistency for Self-Supervised 6D Object Pose Estimationcited by 9
  9. 2024BOP-Distrib: Revisiting 6D Pose Estimation Benchmarks for Better Evaluation under Visual Ambiguitiescited by 3
  10. 2025Corr2Distrib: Making Ambiguous Correspondences an Ally to Predict Reliable 6D Pose Distributionscited by 3
  11. 2023MSDA: Monocular Self-supervised Domain Adaptation for 6D Object Pose Estimationcited by 1
  12. 2025Monocular Visual 8D Pose Estimation for Articulated Bicycles and Cyclistscited by 1
5 more
  1. 2026Cov2Pose: Leveraging Spatial Covariance for Direct Manifold-aware 6-DoF Object Pose Estimationcited by 1
  2. 2026Towards Symmetry-sensitive Pose Estimation: A Rotation Representation for Symmetric Object Classescited by 1
  3. 2024COBRA -- COnfidence score Based on shape Regression Analysis for method-independent quality assessment of object pose estimation from single imagescited by 0
  4. 2024SABER-6D: Shape Representation Based Implicit Object Pose Estimationcited by 0
  5. 2026MF-UAVPose6D: A Model-Free Monocular 6-DoF Pose Estimation Framework for Fixed-Wing UAVscited by 0