mlsanityData to 7 Oct 2026

HiPose: Hierarchical Binary Surface Encoding and Correspondence Pruning for RGB-D 6DoF Object Pose Estimation

arXiv 2311.12588 ↗First posted 21 Nov 2023cs.CVcited by 17

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Abstract (arXiv)

In this work, we present a novel dense-correspondence method for 6DoF object pose estimation from a single RGB-D image. While many existing data-driven methods achieve impressive performance, they tend to be time-consuming due to their reliance on rendering-based refinement approaches. To circumvent this limitation, we present HiPose, which establishes 3D-3D correspondences in a coarse-to-fine manner with a hierarchical binary surface encoding. Unlike previous dense-correspondence methods, we estimate the correspondence surface by employing point-to-surface matching and iteratively constricting the surface until it becomes a correspondence point while gradually removing outliers. Extensive experiments on public benchmarks LM-O, YCB-V, and T-Less demonstrate that our method surpasses all refinement-free methods and is even on par with expensive refinement-based approaches. Crucially, our approach is computationally efficient and enables real-time critical applications with high accuracy requirements.

Key facts. Cited by 17 papers in the map (data through 7 Oct 2026). Builds on 64 of its 81 references that are in the map. First posted on arXiv 21 Nov 2023.

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64 of 81 references.

References · 64

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 29,915
  3. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  4. 2022A ConvNet for the 2020scited by 3,545
  5. 2016Pyramid Scene Parsing Networkcited by 2,472
  6. 2019FCOS: Fully Convolutional One-Stage Object Detectioncited by 1,573
  7. 2021YOLOX: Exceeding YOLO Series in 2021cited by 1,064
  8. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
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38 more
  1. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  2. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
  3. 2017Joint 3D Proposal Generation and Object Detection from View Aggregationcited by 325
  4. 2019Deep Closest Point: Learning Representations for Point Cloud Registrationcited by 318
  5. 2020Deep Continuous Fusion for Multi-Sensor 3D Object Detectioncited by 263
  6. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  7. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  8. 2019PointNetLK: Robust & Efficient Point Cloud Registration using PointNetcited by 231
  9. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  10. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  11. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  12. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  13. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 198
  14. 2020BOP Challenge 2020 on 6D Object Localizationcited by 192
  15. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  16. 2020RPM-Net: Robust Point Matching using Learned Featurescited by 181
  17. 2017PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimationcited by 170
  18. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  19. 2018Point Convolutional Neural Networks by Extension Operatorscited by 154
  20. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  21. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  22. 2019PRNet: Self-Supervised Learning for Partial-to-Partial Registrationcited by 146
  23. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  24. 2018ROI-10D: Monocular Lifting of 2D Detection to 6D Pose and Metric Shapecited by 123
  25. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  26. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  27. 2020DeepGMR: Learning Latent Gaussian Mixture Models for Registrationcited by 91
  28. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  29. 2019KeyPose: Multi-View 3D Labeling and Keypoint Estimation for Transparent Objectscited by 75
  30. 2018Making Deep Heatmaps Robust to Partial Occlusions for 3D Object Pose Estimationcited by 74
  31. 2023BOP Challenge 2022 on Detection, Segmentation and Pose Estimation of Specific Rigid Objectscited by 70
  32. 2019Multi-path Learning for Object Pose Estimation Across Domainscited by 52
  33. 2018A Unified Framework for Multi-View Multi-Class Object Pose Estimationcited by 49
  34. 2022Coupled Iterative Refinement for 6D Multi-Object Pose Estimationcited by 48
  35. 2020MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusioncited by 46
  36. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  37. 2020G2L-Net: Global to Local Network for Real-time 6D Pose Estimation with Embedding Vector Featurescited by 35
  38. 2022Perspective Flow Aggregation for Data-Limited 6D Object Pose Estimationcited by 32

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 5; 2025: 8; 2026: 4.

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  1. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  2. 2024Diffusion Features for Zero-Shot 6DoF Object Pose Estimationcited by 4
  3. 2025Conditional Latent Diffusion Models for Zero-Shot Instance Segmentationcited by 4
  4. 2024BOP-Distrib: Revisiting 6D Pose Estimation Benchmarks for Better Evaluation under Visual Ambiguitiescited by 3
  5. 2025SenseShift6D: Multimodal RGB-D Benchmarking for Robust 6D Pose Estimation across Environment and Sensor Variationscited by 3
  6. 2024Resolving Symmetry Ambiguity in Correspondence-based Methods for Instance-level Object Pose Estimationcited by 1
  7. 2025SCFlow2: Plug-and-Play Object Pose Refiner with Shape-Constraint Scene Flowcited by 1
  8. 2025Instance-Adaptive Keypoint Learning with Local-to-Global Geometric Aggregation for Category-Level Object Pose Estimationcited by 1
  9. 2026EgoXtreme: A Dataset for Robust Object Pose Estimation in Egocentric Views under Extreme Conditionscited by 1
  10. 2024SEMPose: A Single End-to-end Network for Multi-object Pose Estimationcited by 0
  11. 2025Vanishing Depth: Training Generalized Depth Adapters with Sinusoidal Depth Preprocessing for Pretrained RGB Encoderscited by 0
  12. 2025DLTPose: 6DoF Pose Estimation From Accurate Dense Surface Point Estimatescited by 0
5 more
  1. 2025JENGA: Object selection and pose estimation for robotic grasping from a stackcited by 0
  2. 2025RCGNet: RGB-based Category-Level 6D Object Pose Estimation with Geometric Guidancecited by 0
  3. 2026MixRI: Mixing Features of Reference Images for Novel Object Pose Estimationcited by 0
  4. 2026Leveraging Deep Learning for Object and Position Recognition of Load Carriers for Autonomous Logistics Vehiclescited by 0
  5. 2026Robust 3D Alignment of Generative Reconstructions via Partial Monocular Observationscited by 0