mlsanityData to 14 Oct 2026

Keypoint Cascade Voting for Point Cloud Based 6DoF Pose Estimation

arXiv 2210.08123 ↗First posted 14 Oct 2022cs.CVcited by 7

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Abstract (arXiv)

We propose a novel keypoint voting 6DoF object pose estimation method, which takes pure unordered point cloud geometry as input without RGB information. The proposed cascaded keypoint voting method, called RCVPose3D, is based upon a novel architecture which separates the task of semantic segmentation from that of keypoint regression, thereby increasing the effectiveness of both and improving the ultimate performance. The method also introduces a pairwise constraint in between different keypoints to the loss function when regressing the quantity for keypoint estimation, which is shown to be effective, as well as a novel Voter Confident Score which enhances both the learning and inference stages. Our proposed RCVPose3D achieves state-of-the-art performance on the Occlusion LINEMOD (74.5%) and YCB-Video (96.9%) datasets, outperforming existing pure RGB and RGB-D based methods, as well as being competitive with RGB plus point cloud methods.

Key facts. Cited by 7 papers in the map (data through 14 Oct 2026). Builds on 47 of its 70 references that are in the map. First posted on arXiv 14 Oct 2022.

Builds on

47 of 70 references.

References · 47

  1. 2017Attention Is All You Needcited by 60,361
  2. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  3. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  4. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  5. 2018Dynamic Graph CNN for Learning on Point Cloudscited by 2,223
  6. 2020Point Transformercited by 1,470
  7. 2016YOLO9000: Better, Faster, Strongercited by 1,431
  8. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  9. 2013Spectral Networks and Locally Connected Networks on Graphscited by 1,102
  10. 2016Realtime Multi-Person 2D Pose Estimation using Part Affinity Fieldscited by 1,064
  11. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  12. 2018PointCNN: Convolution On X-Transformed Pointscited by 764
35 more
  1. 2015Multi-view Convolutional Neural Networks for 3D Shape Recognitioncited by 565
  2. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  3. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  4. 2019Point-Voxel CNN for Efficient 3D Deep Learningcited by 343
  5. 2020Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloudcited by 335
  6. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  7. 2016Volumetric and Multi-View CNNs for Object Classification on 3D Datacited by 240
  8. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  9. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  10. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  11. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  12. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  13. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  14. 2018PPFNet: Global Context Aware Local Features for Robust 3D Point Matchingcited by 181
  15. 2019AdaShare: Learning What To Share For Efficient Deep Multi-Task Learningcited by 160
  16. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 148
  17. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  18. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  19. 2018PPF-FoldNet: Unsupervised Learning of Rotation Invariant 3D Local Descriptorscited by 141
  20. 2018Segmentation-driven 6D Object Pose Estimationcited by 104
  21. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  22. 2021YOLOP: You Only Look Once for Panoptic Driving Perceptioncited by 82
  23. 2018Making Deep Heatmaps Robust to Partial Occlusions for 3D Object Pose Estimationcited by 74
  24. 2022Point Density-Aware Voxels for LiDAR 3D Object Detectioncited by 70
  25. 2021Subdivision-Based Mesh Convolution Networkscited by 60
  26. 2017O-CNN: Octree-based Convolutional Neural Networks for 3D Shape Analysiscited by 47
  27. 20206D Object Pose Regression via Supervised Learning on Point Cloudscited by 33
  28. 2016FPNN: Field Probing Neural Networks for 3D Datacited by 25
  29. 2019Large-scale 6D Object Pose Estimation Dataset for Industrial Bin-Pickingcited by 25
  30. 2020Robust 6D Object Pose Estimation by Learning RGB-D Featurescited by 25
  31. 2021Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Votingcited by 25
  32. 2020Single Shot 6D Object Pose Estimationcited by 19
  33. 2021StablePose: Learning 6D Object Poses from Geometrically Stable Patchescited by 17
  34. 2021DSC-PoseNet: Learning 6DoF Object Pose Estimation via Dual-scale Consistencycited by 14
  35. 2019PointVoteNet: Accurate Object Detection and 6 DoF Pose Estimation in Point Cloudscited by 7

Built on by

Cited by year (2026 to 14 Oct)

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

7 papers.

  1. 2023BOP Challenge 2022 on Detection, Segmentation and Pose Estimation of Specific Rigid Objectscited by 70
  2. 2024BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objectscited by 60
  3. 2024Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimationcited by 43
  4. 2023Pseudo-keypoint RKHS Learning for Self-supervised 6DoF Pose Estimationcited by 4
  5. 2023Learning Better Keypoints for Multi-Object 6DoF Pose Estimationcited by 3
  6. 2025DLTPose: 6DoF Pose Estimation From Accurate Dense Surface Point Estimatescited by 0
  7. 2026Back to the Feature: Zero-Shot 6DoF Pose Estimation via Dense Local Featurescited by 0