mlsanityData to 14 Oct 2026

HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarios

arXiv 2212.10428 ↗First posted 20 Dec 2022cs.CVcited by 53

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Abstract (arXiv)

Estimating 6D object poses is a major challenge in 3D computer vision. Building on successful instance-level approaches, research is shifting towards category-level pose estimation for practical applications. Current category-level datasets, however, fall short in annotation quality and pose variety. Addressing this, we introduce HouseCat6D, a new category-level 6D pose dataset. It features 1) multi-modality with Polarimetric RGB and Depth (RGBD+P), 2) encompasses 194 diverse objects across 10 household categories, including two photometrically challenging ones, and 3) provides high-quality pose annotations with an error range of only 1.35 mm to 1.74 mm. The dataset also includes 4) 41 large-scale scenes with comprehensive viewpoint and occlusion coverage, 5) a checkerboard-free environment, and 6) dense 6D parallel-jaw robotic grasp annotations. Additionally, we present benchmark results for leading category-level pose estimation networks.

Key facts. Cited by 53 papers in the map (data through 14 Oct 2026). Builds on 44 of its 68 references that are in the map. First posted on arXiv 20 Dec 2022.

Builds on

44 of 68 references.

References · 44

  1. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,897
  2. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  3. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  4. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  5. 2020TEASER: Fast and Certifiable Point Cloud Registrationcited by 274
  6. 2017Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metricscited by 264
  7. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  8. 20196-DOF GraspNet: Variational Grasp Generation for Object Manipulationcited by 242
  9. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  10. 2020BOP Challenge 2020 on 6D Object Localizationcited by 193
  11. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 161
  12. 2020Objectron: A Large Scale Dataset of Object-Centric Videos in the Wild with Pose Annotationscited by 155
32 more
  1. 2019kPAM: KeyPoint Affordances for Category-Level Robotic Manipulationcited by 153
  2. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  3. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 124
  4. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  5. 2020ACRONYM: A Large-Scale Grasp Dataset Based on Simulationcited by 117
  6. 2019HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objectscited by 110
  7. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  8. 2015Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocolscited by 99
  9. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  10. 2018Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimationcited by 92
  11. 20226-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmarkcited by 86
  12. 2015Recovering 6D Object Pose and Predicting Next-Best-View in the Crowdcited by 79
  13. 2019KeyPose: Multi-View 3D Labeling and Keypoint Estimation for Transparent Objectscited by 75
  14. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 70
  15. 2018Explaining the Ambiguity of Object Detection and 6D Pose From Visual Datacited by 68
  16. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  17. 2021Shape from Polarization for Complex Scenes in the Wildcited by 53
  18. 2022PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objectscited by 45
  19. 2021StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimationcited by 40
  20. 2015A Dataset for Improved RGBD-based Object Detection and Pose Estimation for Warehouse Pick-and-Placecited by 35
  21. 2017LabelFusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenescited by 32
  22. 2022MonoGraspNet: 6-DoF Grasping with a Single RGB Imagecited by 24
  23. 2020I Like to Move It: 6D Pose Estimation as an Action Decision Processcited by 22
  24. 2021DemoGrasp: Few-Shot Learning for Robotic Grasping with Human Demonstrationcited by 20
  25. 2022Is my Depth Ground-Truth Good Enough? HAMMER -- Highly Accurate Multi-Modal Dataset for DEnse 3D Scene Regressioncited by 19
  26. 2022DA2 Dataset: Toward Dexterity-Aware Dual-Arm Graspingcited by 11
  27. 2022CroMo: Cross-Modal Learning for Monocular Depth Estimationcited by 10
  28. 2022Keypoint-GraspNet: Keypoint-based 6-DoF Grasp Generation from the Monocular RGB-D inputcited by 10
  29. 2021GKNet: grasp keypoint network for grasp candidates detectioncited by 8
  30. 2022TransGrasp: Grasp Pose Estimation of a Category of Objects by Transferring Grasps from Only One Labeled Instancecited by 8
  31. 2020CPS++: Improving Class-level 6D Pose and Shape Estimation From Monocular Images With Self-Supervised Learningcited by 7
  32. 2018A Framework for Evaluating 6-DOF Object Trackerscited by 6

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 3; 2024: 7; 2025: 23; 2026: 20.

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  1. 2024HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videoscited by 129
  2. 2024Omni6DPose: A Benchmark and Model for Universal 6D Object Pose Estimation and Trackingcited by 50
  3. 2024Introducing HOT3D: An Egocentric Dataset for 3D Hand and Object Trackingcited by 48
  4. 2023SG-Bot: Object Rearrangement via Coarse-to-Fine Robotic Imagination on Scene Graphscited by 24
  5. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  6. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 18
  7. 2025ZeroGrasp: Zero-Shot Shape Reconstruction Enabled Robotic Graspingcited by 13
  8. 2023PACE: A Large-Scale Dataset with Pose Annotations in Cluttered Environmentscited by 11
  9. 2024Zero123-6D: Zero-shot Novel View Synthesis for RGB Category-level 6D Pose Estimationcited by 10
  10. 2025CleanPose: Category-Level Object Pose Estimation via Causal Learning and Knowledge Distillationcited by 10
  11. 2024SCRREAM : SCan, Register, REnder And Map:A Framework for Annotating Accurate and Dense 3D Indoor Scenes with a Benchmarkcited by 9
  12. 2025Learning Shape-Independent Transformation via Spherical Representations for Category-Level Object Pose Estimationcited by 8
38 more
  1. 2025GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenescited by 8
  2. 2025MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Modelcited by 5
  3. 2025PolarAnything: Diffusion-based Polarimetric Image Synthesiscited by 5
  4. 2025ConceptPose: Training-Free Zero-Shot Object Pose Estimation using Concept Vectorscited by 5
  5. 2025MK-Pose: Category-Level Object Pose Estimation via Multimodal-Based Keypoint Learningcited by 4
  6. 2026ComPose: A Unified Completion-Pose Framework for Robust Category-Level Object Pose Estimationcited by 4
  7. 2025NTIRE 2025 Challenge on HR Depth from Images of Specular and Transparent Surfacescited by 3
  8. 2025Forecasting Continuous Non-Conservative Dynamical Systems in SO(3)cited by 3
  9. 2025You Only Pose Once: A Minimalist's Detection Transformer for Monocular RGB Category-level 9D Multi-Object Pose Estimationcited by 3
  10. 2025Beyond 'Templates': Category-Agnostic Object Pose, Size, and Shape Estimation from a Single Viewcited by 2
  11. 2026OSCAR: Open-Set CAD Retrieval from a Language Prompt and a Single Imagecited by 2
  12. 2026WorldSculpt: Generating Compositional Worlds from Grounded Videoscited by 2
  13. 2024Adapting Segment Anything Model for Unseen Object Instance Segmentationcited by 1
  14. 2024Object Pose Estimation Using Implicit Representation For Transparent Objectscited by 1
  15. 2025Tidiness Score-Guided Monte Carlo Tree Search for Visual Tabletop Rearrangementcited by 1
  16. 2025Instance-Adaptive Keypoint Learning with Local-to-Global Geometric Aggregation for Category-Level Object Pose Estimationcited by 1
  17. 2025SingRef6D: Monocular Novel Object Pose Estimation with a Single RGB Referencecited by 1
  18. 2025Joint Learning of Pose Regression and Denoising Diffusion with Score Scaling Sampling for Category-level 6D Pose Estimationcited by 1
  19. 2025UnReflectAnything: RGB-Only Highlight Removal by Rendering Synthetic Specular Supervisioncited by 1
  20. 2026MessyKitchens: Contact-rich object-level 3D scene reconstructioncited by 1
  21. 2026MemPose: Category-level Object Pose Estimation with Memorycited by 1
  22. 2025Universal Features Guided Zero-Shot Category-Level Object Pose Estimationcited by 0
  23. 2025DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarioscited by 0
  24. 2025Dropping the D: RGB-D SLAM Without the Depth Sensorcited by 0
  25. 2025AnyBox: Efficient Zero-Shot 9DoF Pose Estimation of Boxes for Robotic Manipulationcited by 0
  26. 2025AlignPose: Generalizable 6D Pose Estimation via Multi-view Feature-metric Alignmentcited by 0
  27. 2026Clutt3R-Seg: Sparse-view 3D Instance Segmentation for Language-grounded Grasping in Cluttered Scenescited by 0
  28. 2026Learning Positive-Incentive Point Sampling in Neural Implicit Fields for Object Pose Estimationcited by 0
  29. 2026Object Pose Transformer: Unifying Unseen Object Pose Estimationcited by 0
  30. 2026Exploring 6D Object Pose Estimation with Deformationcited by 0
  31. 2026CDPR: Cross-modal Diffusion with Polarization for Reliable Monocular Depth Estimationcited by 0
  32. 2026TSM-Pose: Topology-Aware Learning with Semantic Mamba for Category-Level Object Pose Estimationcited by 0
  33. 2026DecomPose: Disentangling Cross-Category Optimization Contention for Category-Level 6D Object Pose Estimationcited by 0
  34. 2026Every9D-21M: Large-Scale Real-World 9D Canonicalization of Everyday Objectscited by 0
  35. 2026Emergence of a Shared Canonical Object Frame from In-the-Wild Videoscited by 0
  36. 2026UniPose9D: Universal Category-Agnostic Object Pose Estimationcited by 0
  37. 2026ODeform: Learning Continuous 4D Motion for Shape Deformation with Neural ODEscited by 0
  38. 2026PriorPose: Reference-Guided Joint Deformation and Alignment for Category-Level Object Pose Estimationcited by 0

50 most cited of 53 All 53 (JSON)