CenDerNet: Center and Curvature Representations for Render-and-Compare 6D Pose Estimation
Not on the map. Why?
Abstract (arXiv)
We introduce CenDerNet, a framework for 6D pose estimation from multi-view images based on center and curvature representations. Finding precise poses for reflective, textureless objects is a key challenge for industrial robotics. Our approach consists of three stages: First, a fully convolutional neural network predicts center and curvature heatmaps for each view; Second, center heatmaps are used to detect object instances and find their 3D centers; Third, 6D object poses are estimated using 3D centers and curvature heatmaps. By jointly optimizing poses across views using a render-and-compare approach, our method naturally handles occlusions and object symmetries. We show that CenDerNet outperforms previous methods on two industry-relevant datasets: DIMO and T-LESS.
Key facts. Cited by 2 papers in the map (data through 7 Oct 2026). Builds on 24 of its 39 references that are in the map. First posted on arXiv 21 Aug 2022.
Builds on
24 of 39 references.
References · 24
- 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,604
- 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,617
- 2017Mask R-CNNcited by 7,259
- 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,186
- 2019Objects as Pointscited by 1,172
- 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
- 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
- 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
- 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
- 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
- 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 237
- 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
12 more
- 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
- 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
- 2020BOP Challenge 2020 on 6D Object Localizationcited by 192
- 2019DPOD: 6D Pose Object Detector and Refinercited by 189
- 2018Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulationcited by 140
- 2019Photorealistic Image Synthesis for Object Instance Detectioncited by 66
- 2018A Unified Framework for Multi-View Multi-Class Object Pose Estimationcited by 49
- 2019SciPy 1.0--Fundamental Algorithms for Scientific Computing in Pythoncited by 49
- 2019On Object Symmetries and 6D Pose Estimation from Imagescited by 33
- 2019RetinaMask: Learning to predict masks improves state-of-the-art single-shot detection for freecited by 24
- 2021ROBI: A Multi-View Dataset for Reflective Objects in Robotic Bin-Pickingcited by 22
- 2022Dataset of Industrial Metal Objectscited by 8
Built on by
Citing papers per year: 2022: 1; 2023: 0; 2024: 0; 2025: 1.
2 papers.