mlsanityData to 14 Oct 2026

Polarimetric Information for Multi-Modal 6D Pose Estimation of Photometrically Challenging Objects with Limited Data

arXiv 2308.10627 ↗First posted 21 Aug 2023cs.CVcited by 0

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Abstract (arXiv)

6D pose estimation pipelines that rely on RGB-only or RGB-D data show limitations for photometrically challenging objects with e.g. textureless surfaces, reflections or transparency. A supervised learning-based method utilising complementary polarisation information as input modality is proposed to overcome such limitations. This supervised approach is then extended to a self-supervised paradigm by leveraging physical characteristics of polarised light, thus eliminating the need for annotated real data. The methods achieve significant advancements in pose estimation by leveraging geometric information from polarised light and incorporating shape priors and invertible physical constraints.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 18 of its 31 references that are in the map. First posted on arXiv 21 Aug 2023.

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18 of 31 references.

References · 18

  1. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  2. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  3. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 148
  4. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  5. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  6. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 116
  7. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  8. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  9. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  10. 2020Self6D: Self-Supervised Monocular 6D Object Pose Estimationcited by 79
  11. 2022PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objectscited by 45
  12. 2022Occlusion-Aware Self-Supervised Monocular 6D Object Pose Estimationcited by 34
6 more
  1. 2022DPODv2: Dense Correspondence-Based 6 DoF Pose Estimationcited by 32
  2. 2019Depth from a polarisation + RGB stereo paircited by 29
  3. 2022Uni6D: A Unified CNN Framework without Projection Breakdown for 6D Pose Estimationcited by 22
  4. 2022ES6D: A Computation Efficient and Symmetry-Aware 6D Pose Regression Frameworkcited by 19
  5. 2021Polarimetric Pose Predictioncited by 16
  6. 2022DGECN: A Depth-Guided Edge Convolutional Network for End-to-End 6D Pose Estimationcited by 12

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