mlsanityData to 7 Oct 2026

6D-Diff: A Keypoint Diffusion Framework for 6D Object Pose Estimation

arXiv 2401.00029 ↗First posted 29 Dec 2023cs.CVcited by 24

Not on the map. Why?

Abstract (arXiv)

Estimating the 6D object pose from a single RGB image often involves noise and indeterminacy due to challenges such as occlusions and cluttered backgrounds. Meanwhile, diffusion models have shown appealing performance in generating high-quality images from random noise with high indeterminacy through step-by-step denoising. Inspired by their denoising capability, we propose a novel diffusion-based framework (6D-Diff) to handle the noise and indeterminacy in object pose estimation for better performance. In our framework, to establish accurate 2D-3D correspondence, we formulate 2D keypoints detection as a reverse diffusion (denoising) process. To facilitate such a denoising process, we design a Mixture-of-Cauchy-based forward diffusion process and condition the reverse process on the object features. Extensive experiments on the LM-O and YCB-V datasets demonstrate the effectiveness of our framework.

Key facts. Cited by 24 papers in the map (data through 7 Oct 2026). Builds on 50 of its 65 references that are in the map. First posted on arXiv 29 Dec 2023.

Builds on

50 of 65 references.

References · 50

  1. 2017Attention Is All You Needcited by 59,932
  2. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
  3. 2020Denoising Diffusion Implicit Modelscited by 9,655
  4. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,617
  5. 2021Diffusion Models Beat GANs on Image Synthesiscited by 8,185
  6. 2015Deep Unsupervised Learning using Nonequilibrium Thermodynamicscited by 7,005
  7. 2021SDEdit: Guided Image Synthesis and Editing with Stochastic Differential Equationscited by 1,903
  8. 2019FCOS: Fully Convolutional One-Stage Object Detectioncited by 1,573
  9. 2022RePaint: Inpainting using Denoising Diffusion Probabilistic Modelscited by 1,419
  10. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  11. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  12. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
38 more
  1. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  2. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  3. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  4. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  5. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  6. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  7. 2022Stochastic Trajectory Prediction via Motion Indeterminacy Diffusioncited by 184
  8. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  9. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  10. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  11. 2022SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusioncited by 125
  12. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  13. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  14. 2018Segmentation-driven 6D Object Pose Estimationcited by 104
  15. 2022DiffPose: Toward More Reliable 3D Pose Estimationcited by 99
  16. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  17. 2019Single-Stage 6D Object Pose Estimationcited by 88
  18. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  19. 2018Making Deep Heatmaps Robust to Partial Occlusions for 3D Object Pose Estimationcited by 74
  20. 2019End-to-End Learnable Geometric Vision by Backpropagating PnP Optimizationcited by 65
  21. 2021RePOSE: Fast 6D Object Pose Refinement via Deep Texture Renderingcited by 63
  22. 2018Deep Model-Based 6D Pose Refinement in RGBcited by 59
  23. 2019Progressive-X: Efficient, Anytime, Multi-Model Fitting Algorithmcited by 43
  24. 2022RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimizationcited by 38
  25. 2022Occlusion-Aware Self-Supervised Monocular 6D Object Pose Estimationcited by 34
  26. 2023Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagationcited by 33
  27. 2023SE(3) Diffusion Model-based Point Cloud Registration for Robust 6D Object Pose Estimationcited by 32
  28. 2023AI-Generated Content (AIGC) for Various Data Modalities: A Surveycited by 25
  29. 2023Confronting Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)cited by 17
  30. 2023Shape-Constraint Recurrent Flow for 6D Object Pose Estimationcited by 17
  31. 2022CRT-6D: Fast 6D Object Pose Estimation with Cascaded Refinement Transformerscited by 15
  32. 2023CheckerPose: Progressive Dense Keypoint Localization for Object Pose Estimation with Graph Neural Networkcited by 15
  33. 2023Rigidity-Aware Detection for 6D Object Pose Estimationcited by 13
  34. 2022Knowledge Distillation for 6D Pose Estimation by Aligning Distributions of Local Predictionscited by 9
  35. 2022DCL-Net: Deep Correspondence Learning Network for 6D Pose Estimationcited by 9
  36. 20226D Pose Estimation for Textureless Objects on RGB Frames using Multi-View Optimizationcited by 7
  37. 2022Spatial Feature Mapping for 6DoF Object Pose Estimationcited by 3
  38. 2018Statistical Inference for Mixture of Cauchy Distributionscited by 2

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 7; 2025: 10; 2026: 7.

24 papers.

Sort:

By area:

  1. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  2. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 34
  3. 2024Around the World in 80 Timesteps: A Generative Approach to Global Visual Geolocationcited by 23
  4. 2025Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimationcited by 16
  5. 2024Action Detection via an Image Diffusion Processcited by 11
  6. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integrationcited by 11
  7. 2025TranSplat: Surface Embedding-guided 3D Gaussian Splatting for Transparent Object Manipulationcited by 9
  8. 2025An Image-like Diffusion Method for Human-Object Interaction Detectioncited by 5
  9. 2024Diffusion Features for Zero-Shot 6DoF Object Pose Estimationcited by 4
  10. 2025Corr2Distrib: Making Ambiguous Correspondences an Ally to Predict Reliable 6D Pose Distributionscited by 3
  11. 2024Enhancing Single Image to 3D Generation using Gaussian Splatting and Hybrid Diffusion Priorscited by 2
  12. 2024VAPO: Visibility-Aware Keypoint Localization for Efficient 6DoF Object Pose Estimationcited by 1
12 more
  1. 2025Parallel Sampling of Diffusion Models on SO(3)cited by 1
  2. 2025FPG-NAS: FLOPs-Aware Gated Differentiable Neural Architecture Search for Efficient 6DoF Pose Estimationcited by 1
  3. 2025Joint Learning of Pose Regression and Denoising Diffusion with Score Scaling Sampling for Category-level 6D Pose Estimationcited by 1
  4. 2026COG: Confidence-aware Optimal Geometric Correspondence for Unsupervised Single-reference Novel Object Pose Estimationcited by 1
  5. 2026Cov2Pose: Leveraging Spatial Covariance for Direct Manifold-aware 6-DoF Object Pose Estimationcited by 1
  6. 2025AxisPose: Model-Free Matching-Free Single-Shot 6D Object Pose Estimation via Axis Generationcited by 0
  7. 2025DKPMV: Dense Keypoints Fusion from Multi-View RGB Frames for 6D Pose Estimation of Textureless Objectscited by 0
  8. 2026RFM-Pose:Reinforcement-Guided Flow Matching for Fast Category-Level 6D Pose Estimationcited by 0
  9. 2026Exploring 6D Object Pose Estimation with Deformationcited by 0
  10. 2026EpiDiffVO: Geometry-Aware Epipolar Diffusion for Robust Visual Odometrycited by 0
  11. 2026Flow6D: Discrete-to-Continuous Flow Matching for Efficient and Accurate Category-Level 6D Pose Estimationcited by 0
  12. 2026Training-free Controllable Human Motion Generation under Heterogeneous Constraintscited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2024Category Level 6D Object Pose Estimation from a Single RGB Image using Diffusion
  2. 2024Particle-based 6D Object Pose Estimation from Point Clouds using Diffusion Models
  3. 2024Object Pose Estimation via the Aggregation of Diffusion Features
  4. 2024Improving 2D-3D Dense Correspondences with Diffusion Models for 6D Object Pose Estimation
  5. 2022DiffuPose: Monocular 3D Human Pose Estimation via Denoising Diffusion Probabilistic Model
  6. 2023Learning Structure-Guided Diffusion Model for 2D Human Pose Estimation
  7. 2025MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Model
  8. 2023PC2: Projection-Conditioned Point Cloud Diffusion for Single-Image 3D Reconstruction