mlsanityData to 14 Oct 2026

SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimation

arXiv 2311.11125 ↗First posted 18 Nov 2023cs.CVcited by 53

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Abstract (arXiv)

Category-level object pose estimation, aiming to predict the 6D pose and 3D size of objects from known categories, typically struggles with large intra-class shape variation. Existing works utilizing mean shapes often fall short of capturing this variation. To address this issue, we present SecondPose, a novel approach integrating object-specific geometric features with semantic category priors from DINOv2. Leveraging the advantage of DINOv2 in providing SE(3)-consistent semantic features, we hierarchically extract two types of SE(3)-invariant geometric features to further encapsulate local-to-global object-specific information. These geometric features are then point-aligned with DINOv2 features to establish a consistent object representation under SE(3) transformations, facilitating the mapping from camera space to the pre-defined canonical space, thus further enhancing pose estimation. Extensive experiments on NOCS-REAL275 demonstrate that SecondPose achieves a 12.4% leap forward over the state-of-the-art. Moreover, on a more complex dataset HouseCat6D which provides photometrically challenging objects, SecondPose still surpasses other competitors by a large margin.

Key facts. Cited by 53 papers in the map (data through 14 Oct 2026). Builds on 47 of its 58 references that are in the map. First posted on arXiv 18 Nov 2023.

Builds on

47 of 58 references.

References · 47

  1. 2017Mask R-CNNcited by 7,277
  2. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  3. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  4. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  5. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  6. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  7. 2023A Tale of Two Features: Stable Diffusion Complements DINO for Zero-Shot Semantic Correspondencecited by 301
  8. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  9. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  10. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  11. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  12. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
35 more
  1. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 161
  2. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  3. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  4. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 124
  5. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  6. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 116
  7. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  8. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  9. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  10. 2023CNOS: A Strong Baseline for CAD-based Novel Object Segmentationcited by 87
  11. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 84
  12. 2022Category-Level 6D Object Pose and Size Estimation using Self-Supervised Deep Prior Deformation Networkscited by 74
  13. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 70
  14. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  15. 2022Zero-Shot Category-Level Object Pose Estimationcited by 57
  16. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  17. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 49
  18. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  19. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  20. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 41
  21. 2023VI-Net: Boosting Category-level 6D Object Pose Estimation via Learning Decoupled Rotations on the Spherical Representationscited by 41
  22. 2020G2L-Net: Global to Local Network for Real-time 6D Pose Estimation with Embedding Vector Featurescited by 35
  23. 2023POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Referencecited by 30
  24. 2022CATRE: Iterative Point Clouds Alignment for Category-level Object Pose Refinementcited by 29
  25. 2021Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Votingcited by 25
  26. 2022MonoGraspNet: 6-DoF Grasping with a Single RGB Imagecited by 24
  27. 2022OPA-3D: Occlusion-Aware Pixel-Wise Aggregation for Monocular 3D Object Detectioncited by 24
  28. 2023SG-Bot: Object Rearrangement via Coarse-to-Fine Robotic Imagination on Scene Graphscited by 24
  29. 2021ACR-Pose: Adversarial Canonical Representation Reconstruction Network for Category Level 6D Object Pose Estimationcited by 20
  30. 2021Sparse Steerable Convolutions: An Efficient Learning of SE(3)-Equivariant Features for Estimation and Tracking of Object Poses in 3D Spacecited by 17
  31. 2023DDF-HO: Hand-Held Object Reconstruction via Conditional Directed Distance Fieldcited by 17
  32. 2021Polarimetric Pose Predictioncited by 16
  33. 2023U-RED: Unsupervised 3D Shape Retrieval and Deformation for Partial Point Cloudscited by 12
  34. 2022DA2 Dataset: Toward Dexterity-Aware Dual-Arm Graspingcited by 11
  35. 20176D Object Pose Estimation with Depth Images: A Seamless Approach for Robotic Interaction and Augmented Realitycited by 6

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 8; 2025: 26; 2026: 19.

53 papers.

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  1. 2025Scenethesis: A Language and Vision Agentic Framework for 3D Scene Generationcited by 67
  2. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 49
  3. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  4. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 18
  5. 2025Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimationcited by 16
  6. 2024LaPose: Laplacian Mixture Shape Modeling for RGB-Based Category-Level Object Pose Estimationcited by 14
  7. 2024UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Imagecited by 12
  8. 2024Zero123-6D: Zero-shot Novel View Synthesis for RGB Category-level 6D Pose Estimationcited by 10
  9. 2025CleanPose: Category-Level Object Pose Estimation via Causal Learning and Knowledge Distillationcited by 10
  10. 2025Learning Shape-Independent Transformation via Spherical Representations for Category-Level Object Pose Estimationcited by 8
  11. 2025GIVEPose: Gradual Intra-class Variation Elimination for RGB-based Category-Level Object Pose Estimationcited by 6
  12. 2025Foundation Visual Encoders Are Secretly Few-Shot Anomaly Detectorscited by 5
38 more
  1. 2024Diffusion Features for Zero-Shot 6DoF Object Pose Estimationcited by 4
  2. 2025Unified Category-Level Object Detection and Pose Estimation from RGB Images using 3D Prototypescited by 4
  3. 2025RayPose: Ray Bundling Diffusion for Template Views in Unseen 6D Object Pose Estimationcited by 4
  4. 2026ComPose: A Unified Completion-Pose Framework for Robust Category-Level Object Pose Estimationcited by 4
  5. 2025Structure-Aware Correspondence Learning for Relative Pose Estimationcited by 3
  6. 2025BoxDreamer: Dreaming Box Corners for Generalizable Object Pose Estimationcited by 3
  7. 2025Forecasting Continuous Non-Conservative Dynamical Systems in SO(3)cited by 3
  8. 2025Category-Level Object Shape and Pose Estimation in Less Than a Millisecondcited by 3
  9. 2025UnPose: Uncertainty-Guided Diffusion Priors for Zero-Shot Pose Estimationcited by 2
  10. 2024fCOP: Focal Length Estimation from Category-level Object Priorscited by 1
  11. 2024Object Pose Estimation Using Implicit Representation For Transparent Objectscited by 1
  12. 2025Instance-Adaptive Keypoint Learning with Local-to-Global Geometric Aggregation for Category-Level Object Pose Estimationcited by 1
  13. 2025Joint Learning of Pose Regression and Denoising Diffusion with Score Scaling Sampling for Category-level 6D Pose Estimationcited by 1
  14. 2025OPFormer: Object Pose Estimation leveraging foundation model with geometric encodingcited by 1
  15. 2026CanoVerse: 3D Object Scalable Canonicalization and Dataset for Generation and Posecited by 1
  16. 2026OCH3R: Object-Centric Holistic 3D Reconstructioncited by 1
  17. 2026Flow6D: Discrete-to-Continuous Flow Matching for Efficient and Accurate Category-Level 6D Pose Estimationcited by 1
  18. 2026MemPose: Category-level Object Pose Estimation with Memorycited by 1
  19. 2024Aligning Neuronal Coding of Dynamic Visual Scenes with Foundation Vision Modelscited by 0
  20. 2025Universal Features Guided Zero-Shot Category-Level Object Pose Estimationcited by 0
  21. 2025DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarioscited by 0
  22. 2025GMatch: A Lightweight, Geometry-Constrained Keypoint Matcher for Zero-Shot 6DoF Pose Estimation in Robotic Grasp Taskscited by 0
  23. 2025RCGNet: RGB-based Category-Level 6D Object Pose Estimation with Geometric Guidancecited by 0
  24. 2025Learning Point Cloud Representations with Pose Continuity for Depth-Based Category-Level 6D Object Pose Estimationcited by 0
  25. 2025SCOPE: Semantic Conditioning for Sim2Real Category-Level Object Pose Estimation in Roboticscited by 0
  26. 2025AnyBox: Efficient Zero-Shot 9DoF Pose Estimation of Boxes for Robotic Manipulationcited by 0
  27. 2025THE-Pose: Topological Prior with Hybrid Graph Fusion for Estimating Category-Level 6D Object Posecited by 0
  28. 2026MixRI: Mixing Features of Reference Images for Novel Object Pose Estimationcited by 0
  29. 2026RFM-Pose:Reinforcement-Guided Flow Matching for Fast Category-Level 6D Pose Estimationcited by 0
  30. 2026Learning Positive-Incentive Point Sampling in Neural Implicit Fields for Object Pose Estimationcited by 0
  31. 2026Object Pose Transformer: Unifying Unseen Object Pose Estimationcited by 0
  32. 2026TSM-Pose: Topology-Aware Learning with Semantic Mamba for Category-Level Object Pose Estimationcited by 0
  33. 2026DecomPose: Disentangling Cross-Category Optimization Contention for Category-Level 6D Object Pose Estimationcited by 0
  34. 2026Symmetry-Aware 9D Pose Estimation with Sim(3)-Consistent Feature and Spherical Inception Convolutioncited by 0
  35. 2026Learning Cross-View Semantic Priors for Single-Reference Unseen Object Pose Estimationcited by 0
  36. 2026Emergence of a Shared Canonical Object Frame from In-the-Wild Videoscited by 0
  37. 2026UniPose9D: Universal Category-Agnostic Object Pose Estimationcited by 0
  38. 2026PriorPose: Reference-Guided Joint Deformation and Alignment for Category-Level Object Pose Estimationcited by 0

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