mlsanityData to 14 Oct 2026

HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimation

arXiv 2303.15743 ↗First posted 28 Mar 2023cs.CVcited by 49

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Abstract (arXiv)

In this paper, we focus on the problem of category-level object pose estimation, which is challenging due to the large intra-category shape variation. 3D graph convolution (3D-GC) based methods have been widely used to extract local geometric features, but they have limitations for complex shaped objects and are sensitive to noise. Moreover, the scale and translation invariant properties of 3D-GC restrict the perception of an object's size and translation information. In this paper, we propose a simple network structure, the HS-layer, which extends 3D-GC to extract hybrid scope latent features from point cloud data for category-level object pose estimation tasks. The proposed HS-layer: 1) is able to perceive local-global geometric structure and global information, 2) is robust to noise, and 3) can encode size and translation information. Our experiments show that the simple replacement of the 3D-GC layer with the proposed HS-layer on the baseline method (GPV-Pose) achieves a significant improvement, with the performance increased by 14.5% on 5d2cm metric and 10.3% on IoU75. Our method outperforms the state-of-the-art methods by a large margin (8.3% on 5d2cm, 6.9% on IoU75) on the REAL275 dataset and runs in real-time (50 FPS).

Key facts. Cited by 49 papers in the map (data through 14 Oct 2026). Builds on 48 of its 60 references that are in the map. First posted on arXiv 28 Mar 2023.

Builds on

48 of 60 references.

References · 48

  1. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  2. 2019On the Variance of the Adaptive Learning Rate and Beyondcited by 772
  3. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  4. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  5. 2019Lookahead Optimizer: k steps forward, 1 step backcited by 336
  6. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  7. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  8. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  9. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 241
  10. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  11. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  12. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
36 more
  1. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  2. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  3. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 161
  4. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 157
  5. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 124
  6. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  7. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 116
  8. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  9. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  10. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  11. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  12. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 84
  13. 2020Gradient Centralization: A New Optimization Technique for Deep Neural Networkscited by 82
  14. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  15. 2023EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for Monocular Object Pose Estimationcited by 79
  16. 20196-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypointscited by 78
  17. 2022Category-Level 6D Object Pose and Size Estimation using Self-Supervised Deep Prior Deformation Networkscited by 74
  18. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 72
  19. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  20. 2022Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusionscited by 54
  21. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  22. 2019Multi-path Learning for Object Pose Estimation Across Domainscited by 52
  23. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  24. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  25. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  26. 2022RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimizationcited by 38
  27. 2022CATRE: Iterative Point Clouds Alignment for Category-level Object Pose Refinementcited by 29
  28. 2017Going Further with Point Pair Featurescited by 28
  29. 2022Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimationcited by 28
  30. 2021UDA-COPE: Unsupervised Domain Adaptation for Category-level Object Pose Estimationcited by 25
  31. 2022Uni6D: A Unified CNN Framework without Projection Breakdown for 6D Pose Estimationcited by 22
  32. 2018Category-level 6D Object Pose Recovery in Depth Imagescited by 21
  33. 2022ES6D: A Computation Efficient and Symmetry-Aware 6D Pose Regression Frameworkcited by 19
  34. 2022TransNet: Category-Level Transparent Object Pose Estimationcited by 13
  35. 20186D Pose Estimation using an Improved Method based on Point Pair Featurescited by 11
  36. 2020CPS++: Improving Class-level 6D Pose and Shape Estimation From Monocular Images With Self-Supervised Learningcited by 7

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 8; 2024: 11; 2025: 15; 2026: 15.

49 papers.

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  1. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 429
  2. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 53
  3. 2024Omni6DPose: A Benchmark and Model for Universal 6D Object Pose Estimation and Trackingcited by 50
  4. 2024Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimationcited by 43
  5. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  6. 2024DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimationcited by 25
  7. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  8. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 18
  9. 2024CLIPose: Category-Level Object Pose Estimation with Pre-trained Vision-Language Knowledgecited by 16
  10. 2025Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimationcited by 16
  11. 2024LaPose: Laplacian Mixture Shape Modeling for RGB-Based Category-Level Object Pose Estimationcited by 14
  12. 2023GS-Pose: Category-Level Object Pose Estimation via Geometric and Semantic Correspondencecited by 12
37 more
  1. 2023PACE: A Large-Scale Dataset with Pose Annotations in Cluttered Environmentscited by 11
  2. 2024Omni6D: Large-Vocabulary 3D Object Dataset for Category-Level 6D Object Pose Estimationcited by 11
  3. 2025CleanPose: Category-Level Object Pose Estimation via Causal Learning and Knowledge Distillationcited by 10
  4. 2025UA-Pose: Uncertainty-Aware 6D Object Pose Estimation and Online Object Completion with Partial Referencescited by 9
  5. 2024GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinementcited by 8
  6. 2024OP-Align: Object-level and Part-level Alignment for Self-supervised Category-level Articulated Object Pose Estimationcited by 8
  7. 2025Learning Shape-Independent Transformation via Spherical Representations for Category-Level Object Pose Estimationcited by 8
  8. 2023High-Fidelity Eye Animatable Neural Radiance Fields for Human Facecited by 6
  9. 2025MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Modelcited by 5
  10. 2025CAP-Net: A Unified Network for 6D Pose and Size Estimation of Categorical Articulated Parts from a Single RGB-D Imagecited by 5
  11. 2026ComPose: A Unified Completion-Pose Framework for Robust Category-Level Object Pose Estimationcited by 4
  12. 2023Learning Better Keypoints for Multi-Object 6DoF Pose Estimationcited by 3
  13. 2024Towards Real-World Aerial Vision Guidance with Categorical 6D Pose Trackercited by 3
  14. 2025Beyond 'Templates': Category-Agnostic Object Pose, Size, and Shape Estimation from a Single Viewcited by 2
  15. 2023MV-ROPE: Multi-view Constraints for Robust Category-level Object Pose and Size Estimationcited by 1
  16. 2024Diffusion-Driven Self-Supervised Learning for Shape Reconstruction and Pose Estimationcited by 1
  17. 2025Instance-Adaptive Keypoint Learning with Local-to-Global Geometric Aggregation for Category-Level Object Pose Estimationcited by 1
  18. 2025Joint Learning of Pose Regression and Denoising Diffusion with Score Scaling Sampling for Category-level 6D Pose Estimationcited by 1
  19. 2025Light Field Based 6DoF Tracking of Previously Unobserved Objectscited by 1
  20. 2026COG: Confidence-aware Optimal Geometric Correspondence for Unsupervised Single-reference Novel Object Pose Estimationcited by 1
  21. 2026MemPose: Category-level Object Pose Estimation with Memorycited by 1
  22. 2025Learning Point Cloud Representations with Pose Continuity for Depth-Based Category-Level 6D Object Pose Estimationcited by 0
  23. 2025AnyBox: Efficient Zero-Shot 9DoF Pose Estimation of Boxes for Robotic Manipulationcited by 0
  24. 2025CC-FMO: Camera-Conditioned Zero-Shot Single Image to 3D Scene Generation with Foundation Model Orchestrationcited by 0
  25. 2025THE-Pose: Topological Prior with Hybrid Graph Fusion for Estimating Category-Level 6D Object Posecited by 0
  26. 2026Detecting 3D Line Segments for 6DoF Pose Estimation with Limited Datacited by 0
  27. 2026RFM-Pose:Reinforcement-Guided Flow Matching for Fast Category-Level 6D Pose Estimationcited by 0
  28. 2026Learning Positive-Incentive Point Sampling in Neural Implicit Fields for Object Pose Estimationcited by 0
  29. 2026PCSTracker: Long-Term Scene Flow Estimation for Point Cloud Sequencescited by 0
  30. 2026Object Pose Transformer: Unifying Unseen Object Pose Estimationcited by 0
  31. 2026Every9D-21M: Large-Scale Real-World 9D Canonicalization of Everyday Objectscited by 0
  32. 2026Symmetry-Aware 9D Pose Estimation with Sim(3)-Consistent Feature and Spherical Inception Convolutioncited by 0
  33. 2026UniPose9D: Universal Category-Agnostic Object Pose Estimationcited by 0
  34. 2026PriorPose: Reference-Guided Joint Deformation and Alignment for Category-Level Object Pose Estimationcited by 0
  35. 2026LEGAU: Learning Semantic Gaussian Priors for Scalable Category-level Pose Estimationcited by 0
  36. 2026RYOPO: Bringing End-to-End Category-Level Object Pose Estimation into Real Timecited by 0
  37. 2026ASM-6D: Fast Certified Pose-Shape Inference with Complete Correspondence Flow Mapscited by 0