mlsanityData to 7 Oct 2026

DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimation

arXiv 2402.12647 ↗First posted 20 Feb 2024cs.CV cs.ROcited by 24

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Abstract (arXiv)

This paper addresses the challenging problem of category-level pose estimation. Current state-of-the-art methods for this task face challenges when dealing with symmetric objects and when attempting to generalize to new environments solely through synthetic data training. In this work, we address these challenges by proposing a probabilistic model that relies on diffusion to estimate dense canonical maps crucial for recovering partial object shapes as well as establishing correspondences essential for pose estimation. Furthermore, we introduce critical components to enhance performance by leveraging the strength of the diffusion models with multi-modal input representations. We demonstrate the effectiveness of our method by testing it on a range of real datasets. Despite being trained solely on our generated synthetic data, our approach achieves state-of-the-art performance and unprecedented generalization qualities, outperforming baselines, even those specifically trained on the target domain.

Key facts. Cited by 24 papers in the map (data through 7 Oct 2026). Builds on 40 of its 49 references that are in the map. First posted on arXiv 20 Feb 2024.

Builds on

40 of 49 references.

References · 40

  1. 2017Attention Is All You Needcited by 59,932
  2. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  3. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
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  11. 2017Improved Regularization of Convolutional Neural Networks with Cutoutcited by 1,623
  12. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
28 more
  1. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  2. 2020TEASER: Fast and Certifiable Point Cloud Registrationcited by 274
  3. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  4. 2017Geometric Loss Functions for Camera Pose Regression with Deep Learningcited by 224
  5. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  6. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 158
  7. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  8. 2016Image-based localization using LSTMs for structured feature correlationcited by 136
  9. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  10. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  11. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  12. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  13. 2019Fast Interactive Object Annotation with Curve-GCNcited by 95
  14. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  15. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 70
  16. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 69
  17. 2015Learning Descriptors for Object Recognition and 3D Pose Estimationcited by 60
  18. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 47
  19. 2023GenPose: Generative Category-level Object Pose Estimation via Diffusion Modelscited by 47
  20. 2020Deep Bingham Networks: Dealing with Uncertainty and Ambiguity in Pose Estimationcited by 43
  21. 20206D Object Pose Regression via Supervised Learning on Point Cloudscited by 33
  22. 2020From Points to Multi-Object 3D Reconstructioncited by 29
  23. 2022CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wildcited by 28
  24. 2023FSD: Fast Self-Supervised Single RGB-D to Categorical 3D Objectscited by 18
  25. 2021Multi-View Fusion for Multi-Level Robotic Scene Understandingcited by 17
  26. 20193D Object Instance Recognition and Pose Estimation Using Triplet Loss with Dynamic Margincited by 14
  27. 2018When Regression Meets Manifold Learning for Object Recognition and Pose Estimationcited by 8
  28. 2023You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Examplecited by 8

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 2; 2025: 16; 2026: 6.

24 papers.

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  1. 2025One2Any: One-Reference 6D Pose Estimation for Any Objectcited by 17
  2. 2025Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimationcited by 16
  3. 2025GIVEPose: Gradual Intra-class Variation Elimination for RGB-based Category-Level Object Pose Estimationcited by 5
  4. 2026Reconstruction by Generation: 3D Multi-Object Scene Reconstruction from Sparse Observationscited by 5
  5. 2025MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Modelcited by 4
  6. 2025MK-Pose: Category-Level Object Pose Estimation via Multimodal-Based Keypoint Learningcited by 4
  7. 2025RayPose: Ray Bundling Diffusion for Template Views in Unseen 6D Object Pose Estimationcited by 4
  8. 2025SE(3)-PoseFlow: Estimating 6D Pose Distributions for Uncertainty-Aware Robotic Manipulationcited by 4
  9. 2025BoxDreamer: Dreaming Box Corners for Generalizable Object Pose Estimationcited by 3
  10. 2024fCOP: Focal Length Estimation from Category-level Object Priorscited by 1
  11. 2025Simultaneous Pick and Place Detection by Combining SE(3) Diffusion Models with Differential Kinematicscited by 1
  12. 2025OmniShape: Zero-Shot Multi-Hypothesis Shape and Pose Estimation in the Real Worldcited by 1
12 more
  1. 2025Joint Learning of Pose Regression and Denoising Diffusion with Score Scaling Sampling for Category-level 6D Pose Estimationcited by 1
  2. 2026Generative 6D Pose Estimation via Conditional Flow Matchingcited by 1
  3. 2024SABER-6D: Shape Representation Based Implicit Object Pose Estimationcited by 0
  4. 2025DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarioscited by 0
  5. 2025Category-Level and Open-Set Object Pose Estimation for Roboticscited by 0
  6. 2025GTR: Gaussian Splatting Tracking and Reconstruction of Unknown Objects Based on Appearance and Geometric Complexitycited by 0
  7. 2025Learning Point Cloud Representations with Pose Continuity for Depth-Based Category-Level 6D Object Pose Estimationcited by 0
  8. 2025SCOPE: Semantic Conditioning for Sim2Real Category-Level Object Pose Estimation in Roboticscited by 0
  9. 2026Demo-Pose: Depth-Monocular Modality Fusion For Object Pose Estimationcited by 0
  10. 2026Unsupervised Domain Adaptation for Sim-to-Real Object Pose Estimation with Contrastive Alignment and Pseudo-Label Refinementcited by 0
  11. 2026LEGAU: Learning Semantic Gaussian Priors for Scalable Category-level Pose Estimationcited by 0
  12. 2026GenCOPE: Syn2Real Generalized Category-Level Object Pose Estimation for Robotic Pickingcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026Flexible Geometric Guidance for Probabilistic Human Pose Estimation with Diffusion Models
  2. 2022DiffPose: Multi-hypothesis Human Pose Estimation using Diffusion models
  3. 2024Category Level 6D Object Pose Estimation from a Single RGB Image using Diffusion
  4. 2024Object Pose Estimation via the Aggregation of Diffusion Features
  5. 2026DICArt: Advancing Category-level Articulated Object Pose Estimation in Discrete State-Spaces
  6. 2025SDPose: Exploiting Diffusion Priors for Out-of-Domain and Robust Pose Estimation
  7. 2024Learning a Category-level Object Pose Estimator without Pose Annotations
  8. 2024Di2Pose: Discrete Diffusion Model for Occluded 3D Human Pose Estimation