mlsanityData to 7 Oct 2026

Video based Object 6D Pose Estimation using Transformers

arXiv 2210.13540 ↗First posted 24 Oct 2022cs.CV cs.AI cs.HCcited by 5

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Abstract (arXiv)

We introduce a Transformer based 6D Object Pose Estimation framework VideoPose, comprising an end-to-end attention based modelling architecture, that attends to previous frames in order to estimate accurate 6D Object Poses in videos. Our approach leverages the temporal information from a video sequence for pose refinement, along with being computationally efficient and robust. Compared to existing methods, our architecture is able to capture and reason from long-range dependencies efficiently, thus iteratively refining over video sequences. Experimental evaluation on the YCB-Video dataset shows that our approach is on par with the state-of-the-art Transformer methods, and performs significantly better relative to CNN based approaches. Further, with a speed of 33 fps, it is also more efficient and therefore applicable to a variety of applications that require real-time object pose estimation. Training code and pretrained models are available at https://github.com/ApoorvaBeedu/VideoPose

Key facts. Cited by 5 papers in the map (data through 7 Oct 2026). Builds on 52 of its 62 references that are in the map. First posted on arXiv 24 Oct 2022.

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52 of 62 references.

References · 52

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38 more
  1. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  2. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 381
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50 most cited of 52 All 52 (JSON)

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Cited by year

Citing papers per year: 2023: 5.

5 papers.

  1. 2023A Survey on Deep Learning-Based Monocular Spacecraft Pose Estimation: Current State, Limitations and Prospectscited by 30
  2. 2023Depth-based 6DoF Object Pose Estimation using Swin Transformercited by 8
  3. 2023TransPose: 6D Object Pose Estimation with Geometry-Aware Transformercited by 7
  4. 2023Multimodal Contrastive Learning with Hard Negative Sampling for Human Activity Recognitioncited by 4
  5. 2023TransPose: A Transformer-based 6D Object Pose Estimation Network with Depth Refinementcited by 0