mlsanityData to 14 Oct 2026

Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimation

arXiv 2403.19527 ↗First posted 28 Mar 2024cs.CVcited by 43

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Abstract (arXiv)

Category-level 6D object pose estimation aims to estimate the rotation, translation and size of unseen instances within specific categories. In this area, dense correspondence-based methods have achieved leading performance. However, they do not explicitly consider the local and global geometric information of different instances, resulting in poor generalization ability to unseen instances with significant shape variations. To deal with this problem, we propose a novel Instance-Adaptive and Geometric-Aware Keypoint Learning method for category-level 6D object pose estimation (AG-Pose), which includes two key designs: (1) The first design is an Instance-Adaptive Keypoint Detection module, which can adaptively detect a set of sparse keypoints for various instances to represent their geometric structures. (2) The second design is a Geometric-Aware Feature Aggregation module, which can efficiently integrate the local and global geometric information into keypoint features. These two modules can work together to establish robust keypoint-level correspondences for unseen instances, thus enhancing the generalization ability of the model.Experimental results on CAMERA25 and REAL275 datasets show that the proposed AG-Pose outperforms state-of-the-art methods by a large margin without category-specific shape priors.

Key facts. Cited by 43 papers in the map (data through 14 Oct 2026). Builds on 37 of its 46 references that are in the map. First posted on arXiv 28 Mar 2024.

Builds on

37 of 46 references.

References · 37

  1. 2017Attention Is All You Needcited by 60,361
  2. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  3. 2017Mask R-CNNcited by 7,277
  4. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  5. 2016Pyramid Scene Parsing Networkcited by 2,479
  6. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,214
  7. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  8. 2016Multi-View 3D Object Detection Network for Autonomous Drivingcited by 724
  9. 2015Cyclical Learning Rates for Training Neural Networkscited by 629
  10. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  11. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  12. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
25 more
  1. 20196-DOF GraspNet: Variational Grasp Generation for Object Manipulationcited by 242
  2. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  3. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 161
  4. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  5. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  6. 2018ROI-10D: Monocular Lifting of 2D Detection to 6D Pose and Metric Shapecited by 123
  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. 2022You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstrationcited by 81
  11. 2022Category-Level 6D Object Pose and Size Estimation using Self-Supervised Deep Prior Deformation Networkscited by 74
  12. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  13. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  14. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 49
  15. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  16. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 41
  17. 2022RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimizationcited by 38
  18. 2023TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimationcited by 32
  19. 2021Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Votingcited by 25
  20. 2021UDA-COPE: Unsupervised Domain Adaptation for Category-level Object Pose Estimationcited by 25
  21. 2020Grasp Proposal Networks: An End-to-End Solution for Visual Learning of Robotic Graspscited by 22
  22. 2022ES6D: A Computation Efficient and Symmetry-Aware 6D Pose Regression Frameworkcited by 19
  23. 2022MV6D: Multi-View 6D Pose Estimation on RGB-D Frames Using a Deep Point-wise Voting Networkcited by 9
  24. 2024BSNet: Box-Supervised Simulation-assisted Mean Teacher for 3D Instance Segmentationcited by 9
  25. 2022Keypoint Cascade Voting for Point Cloud Based 6DoF Pose Estimationcited by 7

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 3; 2025: 22; 2026: 18.

43 papers.

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  1. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 49
  2. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  3. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 18
  4. 2025CleanPose: Category-Level Object Pose Estimation via Causal Learning and Knowledge Distillationcited by 10
  5. 2025Learning Shape-Independent Transformation via Spherical Representations for Category-Level Object Pose Estimationcited by 8
  6. 2025GIVEPose: Gradual Intra-class Variation Elimination for RGB-based Category-Level Object Pose Estimationcited by 6
  7. 2025MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Modelcited by 5
  8. 2025MK-Pose: Category-Level Object Pose Estimation via Multimodal-Based Keypoint Learningcited by 4
  9. 2025Unified Category-Level Object Detection and Pose Estimation from RGB Images using 3D Prototypescited by 4
  10. 2026ComPose: A Unified Completion-Pose Framework for Robust Category-Level Object Pose Estimationcited by 4
  11. 2025Structure-Aware Correspondence Learning for Relative Pose Estimationcited by 3
  12. 2025You Only Pose Once: A Minimalist's Detection Transformer for Monocular RGB Category-level 9D Multi-Object Pose Estimationcited by 3
31 more
  1. 2025UnPose: Uncertainty-Guided Diffusion Priors for Zero-Shot Pose Estimationcited by 2
  2. 2024fCOP: Focal Length Estimation from Category-level Object Priorscited by 1
  3. 2024Object Pose Estimation Using Implicit Representation For Transparent Objectscited by 1
  4. 2025Instance-Adaptive Keypoint Learning with Local-to-Global Geometric Aggregation for Category-Level Object Pose Estimationcited by 1
  5. 2025Joint Learning of Pose Regression and Denoising Diffusion with Score Scaling Sampling for Category-level 6D Pose Estimationcited by 1
  6. 2025OPFormer: Object Pose Estimation leveraging foundation model with geometric encodingcited by 1
  7. 2026Generate, Transfer, Adapt: Learning Functional Dexterous Grasping from a Single Human Demonstrationcited by 1
  8. 2026CanoVerse: 3D Object Scalable Canonicalization and Dataset for Generation and Posecited by 1
  9. 2026OCH3R: Object-Centric Holistic 3D Reconstructioncited by 1
  10. 2026MemPose: Category-level Object Pose Estimation with Memorycited by 1
  11. 2025AxisPose: Model-Free Matching-Free Single-Shot 6D Object Pose Estimation via Axis Generationcited by 0
  12. 2025DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarioscited by 0
  13. 2025Decoupled Geometric Parameterization and its Application in Deep Homography Estimationcited by 0
  14. 2025RCGNet: RGB-based Category-Level 6D Object Pose Estimation with Geometric Guidancecited by 0
  15. 2025Learning Point Cloud Representations with Pose Continuity for Depth-Based Category-Level 6D Object Pose Estimationcited by 0
  16. 2025AnyBox: Efficient Zero-Shot 9DoF Pose Estimation of Boxes for Robotic Manipulationcited by 0
  17. 2025THE-Pose: Topological Prior with Hybrid Graph Fusion for Estimating Category-Level 6D Object Posecited by 0
  18. 2025PoseGAM: Robust Unseen Object Pose Estimation via Geometry-Aware Multi-View Reasoningcited by 0
  19. 2026Learning Positive-Incentive Point Sampling in Neural Implicit Fields for Object Pose Estimationcited by 0
  20. 2026Object Pose Transformer: Unifying Unseen Object Pose Estimationcited by 0
  21. 2026Exploring 6D Object Pose Estimation with Deformationcited by 0
  22. 2026TSM-Pose: Topology-Aware Learning with Semantic Mamba for Category-Level Object Pose Estimationcited by 0
  23. 2026DecomPose: Disentangling Cross-Category Optimization Contention for Category-Level 6D Object Pose Estimationcited by 0
  24. 2026Symmetry-Aware 9D Pose Estimation with Sim(3)-Consistent Feature and Spherical Inception Convolutioncited by 0
  25. 2026UniPose9D: Universal Category-Agnostic Object Pose Estimationcited by 0
  26. 2026A Geometry-Driven, Framework-Agnostic Optimization for Object Pose Estimationcited by 0
  27. 2026PriorPose: Reference-Guided Joint Deformation and Alignment for Category-Level Object Pose Estimationcited by 0
  28. 2026LEGAU: Learning Semantic Gaussian Priors for Scalable Category-level Pose Estimationcited by 0
  29. 2026GenCOPE: Syn2Real Generalized Category-Level Object Pose Estimation for Robotic Pickingcited by 0
  30. 2026RYOPO: Bringing End-to-End Category-Level Object Pose Estimation into Real Timecited by 0
  31. 2026ASM-6D: Fast Certified Pose-Shape Inference with Complete Correspondence Flow Mapscited by 0