mlsanityData to 13 Oct 2026

TransPose: 6D Object Pose Estimation with Geometry-Aware Transformer

arXiv 2310.16279 ↗First posted 25 Oct 2023cs.CVcited by 7

Not on the map. Why?

Abstract (arXiv)

Estimating the 6D object pose is an essential task in many applications. Due to the lack of depth information, existing RGB-based methods are sensitive to occlusion and illumination changes. How to extract and utilize the geometry features in depth information is crucial to achieve accurate predictions. To this end, we propose TransPose, a novel 6D pose framework that exploits Transformer Encoder with geometry-aware module to develop better learning of point cloud feature representations. Specifically, we first uniformly sample point cloud and extract local geometry features with the designed local feature extractor base on graph convolution network. To improve robustness to occlusion, we adopt Transformer to perform the exchange of global information, making each local feature contains global information. Finally, we introduce geometry-aware module in Transformer Encoder, which to form an effective constrain for point cloud feature learning and makes the global information exchange more tightly coupled with point cloud tasks. Extensive experiments indicate the effectiveness of TransPose, our pose estimation pipeline achieves competitive results on three benchmark datasets.

Key facts. Cited by 7 papers in the map (data through 13 Oct 2026). Builds on 39 of its 65 references that are in the map. First posted on arXiv 25 Oct 2023.

Builds on

39 of 65 references.

References · 39

  1. 2017Attention Is All You Needcited by 60,106
  2. 2018BERT: Pre-training of Deep Bidirectional Transformers for Language Understandingcited by 40,304
  3. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 30,043
  4. 2021Swin Transformer: Hierarchical Vision Transformer using Shifted Windowscited by 12,111
  5. 2020End-to-End Object Detection with Transformerscited by 7,396
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  7. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,389
  8. 2020Point Transformercited by 1,465
  9. 2021Swin Transformer V2: Scaling Up Capacity and Resolutioncited by 1,219
  10. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 770
  11. 2020PCT: Point cloud transformercited by 731
  12. 2016Multi-View 3D Object Detection Network for Autonomous Drivingcited by 722
27 more
  1. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  2. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 354
  3. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  4. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 237
  5. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  6. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  7. 20203D Object Detection with Pointformercited by 194
  8. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  9. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  10. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  11. 2019End-to-end ASR: from Supervised to Semi-Supervised Learning with Modern Architecturescited by 120
  12. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  13. 2021Graph Stacked Hourglass Networks for 3D Human Pose Estimationcited by 94
  14. 2020se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domainscited by 89
  15. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  16. 2019Photorealistic Image Synthesis for Object Instance Detectioncited by 66
  17. 2018A Unified Framework for Multi-View Multi-Class Object Pose Estimationcited by 49
  18. 2020G2L-Net: Global to Local Network for Real-time 6D Pose Estimation with Embedding Vector Featurescited by 35
  19. 20206D Object Pose Regression via Supervised Learning on Point Cloudscited by 33
  20. 2020Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Handscited by 26
  21. 2022Uni6D: A Unified CNN Framework without Projection Breakdown for 6D Pose Estimationcited by 22
  22. 2021PR-GCN: A Deep Graph Convolutional Network with Point Refinement for 6D Pose Estimationcited by 17
  23. 2022YOLOPose: Transformer-based Multi-Object 6D Pose Estimation using Keypoint Regressioncited by 17
  24. 2021T6D-Direct: Transformers for Multi-Object 6D Pose Direct Regressioncited by 16
  25. 2021CloudAAE: Learning 6D Object Pose Regression with On-line Data Synthesis on Point Cloudscited by 15
  26. 2022DGECN: A Depth-Guided Edge Convolutional Network for End-to-End 6D Pose Estimationcited by 12
  27. 2022Video based Object 6D Pose Estimation using Transformerscited by 5

Built on by

Cited by year (2026 to 13 Oct)

Citing papers per year: 2023: 1; 2024: 2; 2025: 2; 2026: 2.

7 papers.

  1. 2023HiPose: Hierarchical Binary Surface Encoding and Correspondence Pruning for RGB-D 6DoF Object Pose Estimationcited by 17
  2. 2024CLIPose: Category-Level Object Pose Estimation with Pre-trained Vision-Language Knowledgecited by 16
  3. 2025CleanPose: Category-Level Object Pose Estimation via Causal Learning and Knowledge Distillationcited by 10
  4. 2026MemPose: Category-level Object Pose Estimation with Memorycited by 1
  5. 2024A Novel Convolution and Attention Mechanism-based Model for 6D Object Pose Estimationcited by 0
  6. 2025SDT-6D: Fully Sparse Depth-Transformer for Staged End-to-End 6D Pose Estimation in Industrial Multi-View Bin Pickingcited by 0
  7. 2026Cross-Modal RGB-D Fusion Transformer for 6D Pose Estimation of Non-Cooperative Spacecraft with Stereo-Derived Depthcited by 0