# CheckerPose: Progressive Dense Keypoint Localization for Object Pose Estimation with Graph Neural Network

arXiv: https://arxiv.org/abs/2303.16874 · HTML: https://mlsanity.com/paper/2303.16874/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- Builds on 55 of its 86 references that are in the map.
- First posted on arXiv 29 Mar 2023.

## Builds on (most cited first, 30 of 55)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domains](https://mlsanity.com/paper/2006.10739/) (2020)
- [FCOS: Fully Convolutional One-Stage Object Detection](https://mlsanity.com/paper/1904.01355/) (2019)
- [Deep High-Resolution Representation Learning for Visual Recognition](https://mlsanity.com/paper/1908.07919/) (2019)
- [PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes](https://mlsanity.com/paper/1711.00199/) (2017)
- [DeepGCNs: Can GCNs Go as Deep as CNNs?](https://mlsanity.com/paper/1904.03751/) (2019)
- [PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation](https://mlsanity.com/paper/1812.11788/) (2018)
- [Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud](https://mlsanity.com/paper/2003.01251/) (2020)
- [Dynamic Edge-Conditioned Filters in Convolutional Neural Networks on Graphs](https://mlsanity.com/paper/1704.02901/) (2017)
- [CosyPose: Consistent multi-view multi-object 6D pose estimation](https://mlsanity.com/paper/2008.08465/) (2020)
- [DeepIM: Deep Iterative Matching for 6D Pose Estimation](https://mlsanity.com/paper/1804.00175/) (2018)
- [Mesh Graphormer](https://mlsanity.com/paper/2104.00272/) (2021)
- [SSD-6D: Making RGB-based 3D detection and 6D pose estimation great again](https://mlsanity.com/paper/1711.10006/) (2017)
- [Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects](https://mlsanity.com/paper/1809.10790/) (2018)
- [BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depth](https://mlsanity.com/paper/1703.10896/) (2017)
- [Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimation](https://mlsanity.com/paper/1908.07433/) (2019)
- [Real-Time Seamless Single Shot 6D Object Pose Prediction](https://mlsanity.com/paper/1711.08848/) (2017)
- [BOP Challenge 2020 on 6D Object Localization](https://mlsanity.com/paper/2009.07378/) (2020)
- [DPOD: 6D Pose Object Detector and Refiner](https://mlsanity.com/paper/1902.11020/) (2019)
- [Implicit 3D Orientation Learning for 6D Object Detection from RGB Images](https://mlsanity.com/paper/1902.01275/) (2019)
- [EPOS: Estimating 6D Pose of Objects with Symmetries](https://mlsanity.com/paper/2004.00605/) (2020)
- [GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimator](https://mlsanity.com/paper/2102.12145/) (2021)
- [ROI-10D: Monocular Lifting of 2D Detection to 6D Pose and Metric Shape](https://mlsanity.com/paper/1812.02781/) (2018)
- [FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanism](https://mlsanity.com/paper/2103.07054/) (2021)
- [ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimation](https://mlsanity.com/paper/2203.09418/) (2022)
- [HybridPose: 6D Object Pose Estimation under Hybrid Representations](https://mlsanity.com/paper/2001.01869/) (2020)

## Built on by (most cited first, 15 of 15)

- [Deep Learning-Based Object Pose Estimation: A Comprehensive Survey](https://mlsanity.com/paper/2405.07801/) (2024)
- [6D-Diff: A Keypoint Diffusion Framework for 6D Object Pose Estimation](https://mlsanity.com/paper/2401.00029/) (2023)
- [Challenges for Monocular 6D Object Pose Estimation in Robotics](https://mlsanity.com/paper/2307.12172/) (2023)
- [A Graph-Based Approach for Category-Agnostic Pose Estimation](https://mlsanity.com/paper/2311.17891/) (2023)
- [MRC-Net: 6-DoF Pose Estimation with MultiScale Residual Correlation](https://mlsanity.com/paper/2403.08019/) (2024)
- [VAPO: Visibility-Aware Keypoint Localization for Efficient 6DoF Object Pose Estimation](https://mlsanity.com/paper/2403.14559/) (2024)
- [Instance-Adaptive Keypoint Learning with Local-to-Global Geometric Aggregation for Category-Level Object Pose Estimation](https://mlsanity.com/paper/2504.15134/) (2025)
- [RefPose: Leveraging Reference Geometric Correspondences for Accurate 6D Pose Estimation of Unseen Objects](https://mlsanity.com/paper/2505.10841/) (2025)
- [Cov2Pose: Leveraging Spatial Covariance for Direct Manifold-aware 6-DoF Object Pose Estimation](https://mlsanity.com/paper/2603.19961/) (2026)
- [Exploiting Point-Wise Attention in 6D Object Pose Estimation Based on Bidirectional Prediction](https://mlsanity.com/paper/2308.08518/) (2023)
- [Towards Human-Level 3D Relative Pose Estimation: Generalizable, Training-Free, with Single Reference](https://mlsanity.com/paper/2406.18453/) (2024)
- [A Novel Convolution and Attention Mechanism-based Model for 6D Object Pose Estimation](https://mlsanity.com/paper/2501.01993/) (2024)
- [AxisPose: Model-Free Matching-Free Single-Shot 6D Object Pose Estimation via Axis Generation](https://mlsanity.com/paper/2503.06660/) (2025)
- [Consensus-Driven Uncertainty for Robotic Grasping based on RGB Perception](https://mlsanity.com/paper/2506.20045/) (2025)
- [DKPMV: Dense Keypoints Fusion from Multi-View RGB Frames for 6D Pose Estimation of Textureless Objects](https://mlsanity.com/paper/2510.10933/) (2025)

## Abstract (arXiv)

Estimating the 6-DoF pose of a rigid object from a single RGB image is a crucial yet challenging task. Recent studies have shown the great potential of dense correspondence-based solutions, yet improvements are still needed to reach practical deployment. In this paper, we propose a novel pose estimation algorithm named CheckerPose, which improves on three main aspects. Firstly, CheckerPose densely samples 3D keypoints from the surface of the 3D object and finds their 2D correspondences progressively in the 2D image. Compared to previous solutions that conduct dense sampling in the image space, our strategy enables the correspondence searching in a 2D grid (i.e., pixel coordinate). Secondly, for our 3D-to-2D correspondence, we design a compact binary code representation for 2D image locations. This representation not only allows for progressive correspondence refinement but also converts the correspondence regression to a more efficient classification problem. Thirdly, we adopt a graph neural network to explicitly model the interactions among the sampled 3D keypoints, further boosting the reliability and accuracy of the correspondences. Together, these novel components make CheckerPose a strong pose estimation algorithm. When evaluated on the popular Linemod, Linemod-O, and YCB-V object pose estimation benchmarks, CheckerPose clearly boosts the accuracy of correspondence-based methods and achieves state-of-the-art performances. Code is available at https://github.com/RuyiLian/CheckerPose.