mlsanityData to 14 Oct 2026

GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinement

arXiv 2404.11139 ↗First posted 17 Apr 2024cs.CVcited by 8

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Abstract (arXiv)

Object pose refinement is essential for robust object pose estimation. Previous work has made significant progress towards instance-level object pose refinement. Yet, category-level pose refinement is a more challenging problem due to large shape variations within a category and the discrepancies between the target object and the shape prior. To address these challenges, we introduce a novel architecture for category-level object pose refinement. Our approach integrates an HS-layer and learnable affine transformations, which aims to enhance the extraction and alignment of geometric information. Additionally, we introduce a cross-cloud transformation mechanism that efficiently merges diverse data sources. Finally, we push the limits of our model by incorporating the shape prior information for translation and size error prediction. We conducted extensive experiments to demonstrate the effectiveness of the proposed framework. Through extensive quantitative experiments, we demonstrate significant improvement over the baseline method by a large margin across all metrics.

Key facts. Cited by 8 papers in the map (data through 14 Oct 2026). Builds on 50 of its 61 references that are in the map. First posted on arXiv 17 Apr 2024.

Builds on

50 of 61 references.

References · 50

  1. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  2. 2019On the Variance of the Adaptive Learning Rate and Beyondcited by 772
  3. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  4. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  5. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  6. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  7. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 241
  8. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  9. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  10. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  11. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  12. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 161
38 more
  1. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 157
  2. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 148
  3. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 124
  4. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  5. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 116
  6. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  7. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  8. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  9. 2020se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domainscited by 90
  10. 2020Gradient Centralization: A New Optimization Technique for Deep Neural Networkscited by 82
  11. 2022You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstrationcited by 81
  12. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  13. 2023EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for Monocular Object Pose Estimationcited by 79
  14. 2022Category-Level 6D Object Pose and Size Estimation using Self-Supervised Deep Prior Deformation Networkscited by 74
  15. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 72
  16. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  17. 2021RePOSE: Fast 6D Object Pose Refinement via Deep Texture Renderingcited by 63
  18. 2022Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusionscited by 54
  19. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  20. 2019Multi-path Learning for Object Pose Estimation Across Domainscited by 52
  21. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 49
  22. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  23. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  24. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  25. 2020G2L-Net: Global to Local Network for Real-time 6D Pose Estimation with Embedding Vector Featurescited by 35
  26. 2023Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagationcited by 33
  27. 2017Real-time Perception meets Reactive Motion Generationcited by 30
  28. 2022CATRE: Iterative Point Clouds Alignment for Category-level Object Pose Refinementcited by 29
  29. 2017Going Further with Point Pair Featurescited by 28
  30. 2022Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimationcited by 28
  31. 2021UDA-COPE: Unsupervised Domain Adaptation for Category-level Object Pose Estimationcited by 25
  32. 2022TexPose: Neural Texture Learning for Self-Supervised 6D Object Pose Estimationcited by 23
  33. 2021Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Taskscited by 18
  34. 2022StereoPose: Category-Level 6D Transparent Object Pose Estimation from Stereo Images via Back-View NOCScited by 18
  35. 2023Deep Fusion Transformer Network with Weighted Vector-Wise Keypoints Voting for Robust 6D Object Pose Estimationcited by 16
  36. 2022CRT-6D: Fast 6D Object Pose Estimation with Cascaded Refinement Transformerscited by 15
  37. 2023Rigidity-Aware Detection for 6D Object Pose Estimationcited by 13
  38. 20186D Pose Estimation using an Improved Method based on Point Pair Featurescited by 11

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 1; 2025: 4; 2026: 3.

8 papers.

  1. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  2. 2025Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimationcited by 16
  3. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integrationcited by 11
  4. 2025CleanPose: Category-Level Object Pose Estimation via Causal Learning and Knowledge Distillationcited by 10
  5. 2025Collaborative Learning for 3D Hand-Object Reconstruction and Compositional Action Recognition from Egocentric RGB Videos Using Superquadricscited by 2
  6. 2026TSM-Pose: Topology-Aware Learning with Semantic Mamba for Category-Level Object Pose Estimationcited by 0
  7. 2026A Geometry-Driven, Framework-Agnostic Optimization for Object Pose Estimationcited by 0
  8. 2026GenCOPE: Syn2Real Generalized Category-Level Object Pose Estimation for Robotic Pickingcited by 0