mlsanityData to 14 Oct 2026

GS-Pose: Category-Level Object Pose Estimation via Geometric and Semantic Correspondence

arXiv 2311.13777 ↗First posted 23 Nov 2023cs.CVcited by 12

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Abstract (arXiv)

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large datasets of either pose-labelled real images or carefully tuned photorealistic simulators. This can be avoided by using only geometry inputs such as depth images to reduce the domain-gap but these approaches suffer from a lack of semantic information, which can be vital in the pose estimation problem. To resolve this conflict, we propose to utilize both geometric and semantic features obtained from a pre-trained foundation model.Our approach projects 2D features from this foundation model into 3D for a single object model per category, and then performs matching against this for new single view observations of unseen object instances with a trained matching network. This requires significantly less data to train than prior methods since the semantic features are robust to object texture and appearance. We demonstrate this with a rich evaluation, showing improved performance over prior methods with a fraction of the data required.

Key facts. Cited by 12 papers in the map (data through 14 Oct 2026). Builds on 35 of its 41 references that are in the map. First posted on arXiv 23 Nov 2023.

Builds on

35 of 41 references.

References · 35

  1. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,974
  2. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,897
  3. 2023LightGlue: Local Feature Matching at Light Speedcited by 590
  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. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  8. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 161
  9. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 157
  10. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 148
  11. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  12. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 124
23 more
  1. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  2. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 121
  3. 2023OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Modelscited by 115
  4. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  5. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  6. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  7. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  8. 2020Self6D: Self-Supervised Monocular 6D Object Pose Estimationcited by 79
  9. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  10. 2021RePOSE: Fast 6D Object Pose Refinement via Deep Texture Renderingcited by 63
  11. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  12. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 49
  13. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  14. 2022RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimizationcited by 38
  15. 2023NOPE: Novel Object Pose Estimation from a Single Imagecited by 38
  16. 2022Occlusion-Aware Self-Supervised Monocular 6D Object Pose Estimationcited by 34
  17. 20206D Object Pose Regression via Supervised Learning on Point Cloudscited by 33
  18. 2022CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wildcited by 28
  19. 2022TexPose: Neural Texture Learning for Self-Supervised 6D Object Pose Estimationcited by 23
  20. 2023Learning to Estimate 6DoF Pose from Limited Data: A Few-Shot, Generalizable Approach using RGB Imagescited by 18
  21. 2022Fusing Local Similarities for Retrieval-based 3D Orientation Estimation of Unseen Objectscited by 17
  22. 2021DISP6D: Disentangled Implicit Shape and Pose Learning for Scalable 6D Pose Estimationcited by 12
  23. 2022Sim2Real Instance-Level Style Transfer for 6D Pose Estimationcited by 10

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 7; 2026: 5.

12 papers.

  1. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 18
  2. 2025Accurate and efficient zero-shot 6D pose estimation with frozen foundation modelscited by 13
  3. 2025ConceptPose: Training-Free Zero-Shot Object Pose Estimation using Concept Vectorscited by 5
  4. 2025MK-Pose: Category-Level Object Pose Estimation via Multimodal-Based Keypoint Learningcited by 4
  5. 2025BoxDreamer: Dreaming Box Corners for Generalizable Object Pose Estimationcited by 3
  6. 2026COG: Confidence-aware Optimal Geometric Correspondence for Unsupervised Single-reference Novel Object Pose Estimationcited by 1
  7. 2026Shape-of-You: Fused Gromov-Wasserstein Optimal Transport for Semantic Correspondence in-the-Wildcited by 1
  8. 2026Geometry Matters: 3D Foundation Priors for Learning Semantic Correspondencecited by 1
  9. 2025DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarioscited by 0
  10. 2025SCOPE: Semantic Conditioning for Sim2Real Category-Level Object Pose Estimation in Roboticscited by 0
  11. 2026Object Pose Transformer: Unifying Unseen Object Pose Estimationcited by 0
  12. 2026Demo-Pose: Depth-Monocular Modality Fusion For Object Pose Estimationcited by 0