mlsanityData to 7 Oct 2026

SyMFM6D: Symmetry-aware Multi-directional Fusion for Multi-View 6D Object Pose Estimation

arXiv 2307.00306 ↗First posted 1 Jul 2023cs.CV cs.AI cs.LGcited by 4

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Abstract (arXiv)

Detecting objects and estimating their 6D poses is essential for automated systems to interact safely with the environment. Most 6D pose estimators, however, rely on a single camera frame and suffer from occlusions and ambiguities due to object symmetries. We overcome this issue by presenting a novel symmetry-aware multi-view 6D pose estimator called SyMFM6D. Our approach efficiently fuses the RGB-D frames from multiple perspectives in a deep multi-directional fusion network and predicts predefined keypoints for all objects in the scene simultaneously. Based on the keypoints and an instance semantic segmentation, we efficiently compute the 6D poses by least-squares fitting. To address the ambiguity issues for symmetric objects, we propose a novel training procedure for symmetry-aware keypoint detection including a new objective function. Our SyMFM6D network significantly outperforms the state-of-the-art in both single-view and multi-view 6D pose estimation. We furthermore show the effectiveness of our symmetry-aware training procedure and demonstrate that our approach is robust towards inaccurate camera calibration and dynamic camera setups.

Key facts. Cited by 4 papers in the map (data through 7 Oct 2026). Builds on 35 of its 68 references that are in the map. First posted on arXiv 1 Jul 2023.

Builds on

35 of 68 references.

References · 35

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  12. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
23 more
  1. 2017Joint 3D Proposal Generation and Object Detection from View Aggregationcited by 325
  2. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  3. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  4. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  5. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  6. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  7. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  8. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  9. 2017PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimationcited by 170
  10. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  11. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  12. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  13. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  14. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  15. 2016Multi-view Self-supervised Deep Learning for 6D Pose Estimation in the Amazon Picking Challengecited by 70
  16. 2014Viewpoints and Keypointscited by 59
  17. 20163D Fully Convolutional Network for Vehicle Detection in Point Cloudcited by 57
  18. 2018A Unified Framework for Multi-View Multi-Class Object Pose Estimationcited by 49
  19. 2019On Object Symmetries and 6D Pose Estimation from Imagescited by 33
  20. 2022ES6D: A Computation Efficient and Symmetry-Aware 6D Pose Regression Frameworkcited by 19
  21. 2019CullNet: Calibrated and Pose Aware Confidence Scores for Object Pose Estimationcited by 9
  22. 2022MV6D: Multi-View 6D Pose Estimation on RGB-D Frames Using a Deep Point-wise Voting Networkcited by 9
  23. 2020Handling Object Symmetries in CNN-based Pose Estimationcited by 8

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 2; 2026: 2.

4 papers.

  1. 2025MK-Pose: Category-Level Object Pose Estimation via Multimodal-Based Keypoint Learningcited by 4
  2. 2026MultiCam: On-the-fly Multi-Camera Pose Estimation Using Spatiotemporal Overlaps of Known Objectscited by 1
  3. 2025SDT-6D: Fully Sparse Depth-Transformer for Staged End-to-End 6D Pose Estimation in Industrial Multi-View Bin Pickingcited by 0
  4. 2026Rotational Symmetry based Object Pose Estimation from Point Clouds in the Absence of Known 3D Modelscited by 0