mlsanityData to 7 Oct 2026

StereoPose: Category-Level 6D Transparent Object Pose Estimation from Stereo Images via Back-View NOCS

arXiv 2211.01644 ↗First posted 3 Nov 2022cs.RO cs.AI cs.CVcited by 18

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Abstract (arXiv)

Most existing methods for category-level pose estimation rely on object point clouds. However, when considering transparent objects, depth cameras are usually not able to capture meaningful data, resulting in point clouds with severe artifacts. Without a high-quality point cloud, existing methods are not applicable to challenging transparent objects. To tackle this problem, we present StereoPose, a novel stereo image framework for category-level object pose estimation, ideally suited for transparent objects. For a robust estimation from pure stereo images, we develop a pipeline that decouples category-level pose estimation into object size estimation, initial pose estimation, and pose refinement. StereoPose then estimates object pose based on representation in the normalized object coordinate space~(NOCS). To address the issue of image content aliasing, we further define a back-view NOCS map for the transparent object. The back-view NOCS aims to reduce the network learning ambiguity caused by content aliasing, and leverage informative cues on the back of the transparent object for more accurate pose estimation. To further improve the performance of the stereo framework, StereoPose is equipped with a parallax attention module for stereo feature fusion and an epipolar loss for improving the stereo-view consistency of network predictions. Extensive experiments on the public TOD dataset demonstrate the superiority of the proposed StereoPose framework for category-level 6D transparent object pose estimation.

Key facts. Cited by 18 papers in the map (data through 7 Oct 2026). Builds on 32 of its 42 references that are in the map. First posted on arXiv 3 Nov 2022.

Builds on

32 of 42 references.

References · 32

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2016Pyramid Scene Parsing Networkcited by 2,472
  3. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  4. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  5. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 158
  6. 2020Disentangled Non-Local Neural Networkscited by 132
  7. 2019ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulationcited by 124
  8. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 123
  9. 2021Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objectscited by 119
  10. 2020Segmenting Transparent Objects in the Wildcited by 98
  11. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  12. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
20 more
  1. 2019KeyPose: Multi-View 3D Labeling and Keypoint Estimation for Transparent Objectscited by 75
  2. 2022Category-Level 6D Object Pose and Size Estimation using Self-Supervised Deep Prior Deformation Networkscited by 73
  3. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 70
  4. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  5. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 69
  6. 2021RGB-D Local Implicit Function for Depth Completion of Transparent Objectscited by 64
  7. 2022TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baselinecited by 55
  8. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  9. 2022Domain Randomization-Enhanced Depth Simulation and Restoration for Perceiving and Grasping Specular and Transparent Objectscited by 49
  10. 2022ClearPose: Large-scale Transparent Object Dataset and Benchmarkcited by 46
  11. 2021Leveraging SE(3) Equivariance for Self-Supervised Category-Level Object Pose Estimationcited by 45
  12. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  13. 2021Seeing Glass: Joint Point Cloud and Depth Completion for Transparent Objectscited by 39
  14. 2020Symmetric Parallax Attention for Stereo Image Super-Resolutioncited by 35
  15. 2022CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wildcited by 28
  16. 2022CATRE: Iterative Point Clouds Alignment for Category-level Object Pose Refinementcited by 28
  17. 2021iCaps: Iterative Category-level Object Pose and Shape Estimationcited by 23
  18. 2022A4T: Hierarchical Affordance Detection for Transparent Objects Depth Reconstruction and Manipulationcited by 23
  19. 2018Category-level 6D Object Pose Recovery in Depth Imagescited by 21
  20. 2019Instance- and Category-level 6D Object Pose Estimationcited by 7

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 4; 2024: 5; 2025: 5; 2026: 4.

18 papers.

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  1. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  2. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  3. 2023Deep Fusion Transformer Network with Weighted Vector-Wise Keypoints Voting for Robust 6D Object Pose Estimationcited by 16
  4. 2024GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinementcited by 8
  5. 2024ClearDepth: Enhanced Stereo Perception of Transparent Objects for Robotic Manipulationcited by 7
  6. 2024Category-level Object Detection, Pose Estimation and Reconstruction from Stereo Imagescited by 5
  7. 2024Marrying NeRF with Feature Matching for One-step Pose Estimationcited by 3
  8. 2025Active 6D Pose Estimation for Textureless Objects using Multi-View RGB Framescited by 3
  9. 2025HccePose(BF): Predicting Front & Back Surfaces to Construct Ultra-Dense 2D-3D Correspondences for Pose Estimationcited by 3
  10. 2023Open Challenges for Monocular Single-shot 6D Object Pose Estimationcited by 2
  11. 2025DeLTa: Demonstration and Language-Guided Novel Transparent Object Manipulationcited by 2
  12. 2026Towards Symmetry-sensitive Pose Estimation: A Rotation Representation for Symmetric Object Classescited by 1
6 more
  1. 2023KVN: Keypoints Voting Network with Differentiable RANSAC for Stereo Pose Estimationcited by 0
  2. 2025Category-Level and Open-Set Object Pose Estimation for Roboticscited by 0
  3. 2025Learning Point Cloud Representations with Pose Continuity for Depth-Based Category-Level 6D Object Pose Estimationcited by 0
  4. 2026UniPR: Unified Object-level Real-to-Sim Perception and Reconstruction from a Single Stereo Paircited by 0
  5. 2026Transparent Fragments Contour Estimation via Visual-Tactile Fusion for Autonomous Reassemblycited by 0
  6. 2026TSM-Pose: Topology-Aware Learning with Semantic Mamba for Category-Level Object Pose Estimationcited by 0