mlsanityData to 7 Oct 2026

LocPoseNet: Robust Location Prior for Unseen Object Pose Estimation

arXiv 2211.16290 ↗First posted 29 Nov 2022cs.CV cs.ROcited by 9

Not on the map. Why?

Abstract (arXiv)

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are used for this purpose do not generalize to unseen objects. Therefore, existing 6D pose estimation methods for unseen objects either assume the ground-truth object location to be known or yield inaccurate results when it is unavailable. In this paper, we address this problem by developing a method, LocPoseNet, able to robustly learn location prior for unseen objects. Our method builds upon a template matching strategy, where we propose to distribute the reference kernels and convolve them with a query to efficiently compute multi-scale correlations. We then introduce a novel translation estimator, which decouples scale-aware and scale-robust features to predict different object location parameters. Our method outperforms existing works by a large margin on LINEMOD and GenMOP. We further construct a challenging synthetic dataset, which allows us to highlight the better robustness of our method to various noise sources. Our project website is at: https://sailor-z.github.io/projects/3DV2024_LocPoseNet.html.

Key facts. Cited by 9 papers in the map (data through 7 Oct 2026). Builds on 36 of its 49 references that are in the map. First posted on arXiv 29 Nov 2022.

Builds on

36 of 49 references.

References · 36

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  8. 2017Rethinking Atrous Convolution for Semantic Image Segmentationcited by 2,154
  9. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
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  11. 2014Spatial Pyramid Pooling in Deep Convolutional Networks for Visual Recognitioncited by 719
  12. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
24 more
  1. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  2. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
  3. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  4. 2018Fast Online Object Tracking and Segmentation: A Unifying Approachcited by 272
  5. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 237
  6. 2020DetectoRS: Detecting Objects with Recursive Feature Pyramid and Switchable Atrous Convolutioncited by 222
  7. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  8. 2017PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimationcited by 170
  9. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  10. 2019Category-Level Articulated Object Pose Estimationcited by 158
  11. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 155
  12. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  13. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 123
  14. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  15. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  16. 2019LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimationcited by 88
  17. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  18. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  19. 2020Self6D: Self-Supervised Monocular 6D Object Pose Estimationcited by 79
  20. 2015Learning Descriptors for Object Recognition and 3D Pose Estimationcited by 60
  21. 2019Pose from Shape: Deep Pose Estimation for Arbitrary 3D Objectscited by 39
  22. 2020OS2D: One-Stage One-Shot Object Detection by Matching Anchor Featurescited by 35
  23. 2022Fusing Local Similarities for Retrieval-based 3D Orientation Estimation of Unseen Objectscited by 17
  24. 2022Semantic-aligned Fusion Transformer for One-shot Object Detectioncited by 13

Built on by

Cited by year (2026 to 7 Oct)

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

9 papers.

  1. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  2. 2024GS-Pose: Generalizable Segmentation-based 6D Object Pose Estimation with 3D Gaussian Splattingcited by 14
  3. 20233D-Aware Hypothesis & Verification for Generalizable Relative Object Pose Estimationcited by 11
  4. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integrationcited by 11
  5. 2024Extreme Two-View Geometry From Object Poses with Diffusion Modelscited by 4
  6. 2025BoxDreamer: Dreaming Box Corners for Generalizable Object Pose Estimationcited by 3
  7. 2024Generalizable Single-view Object Pose Estimation by Two-side Generating and Matchingcited by 1
  8. 2024DVMNet++: Rethinking Relative Pose Estimation for Unseen Objectscited by 0
  9. 2026MixRI: Mixing Features of Reference Images for Novel Object Pose Estimationcited by 0