mlsanityData to 14 Oct 2026

RDPN6D: Residual-based Dense Point-wise Network for 6Dof Object Pose Estimation Based on RGB-D Images

arXiv 2405.08483 ↗First posted 14 May 2024cs.CV cs.AIcited by 5

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Abstract (arXiv)

In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach addresses this challenging task using dense correspondence, i.e., we regress the object coordinates for each visible pixel. Our method leverages existing object detection methods. We incorporate a re-projection mechanism to adjust the camera's intrinsic matrix to accommodate cropping in RGB-D images. Moreover, we transform the 3D object coordinates into a residual representation, which can effectively reduce the output space and yield superior performance. We conducted extensive experiments to validate the efficacy of our approach for 6D pose estimation. Our approach outperforms most previous methods, especially in occlusion scenarios, and demonstrates notable improvements over the state-of-the-art methods. Our code is available on https://github.com/AI-Application-and-Integration-Lab/RDPN6D.

Key facts. Cited by 5 papers in the map (data through 14 Oct 2026). Builds on 32 of its 48 references that are in the map. First posted on arXiv 14 May 2024.

Builds on

32 of 48 references.

References · 32

  1. 2021YOLOX: Exceeding YOLO Series in 2021cited by 1,071
  2. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  3. 2016Multi-View 3D Object Detection Network for Autonomous Drivingcited by 724
  4. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  5. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  6. 2020Deep Continuous Fusion for Multi-Sensor 3D Object Detectioncited by 263
  7. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  8. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 241
  9. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  10. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  11. 2020BOP Challenge 2020 on 6D Object Localizationcited by 193
  12. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
20 more
  1. 2019Understanding the Limitations of CNN-based Absolute Camera Pose Regressioncited by 177
  2. 2017PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimationcited by 170
  3. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 148
  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. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 116
  7. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  8. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  9. 2022DFNet: Enhance Absolute Pose Regression with Direct Feature Matchingcited by 82
  10. 2020G2L-Net: Global to Local Network for Real-time 6D Pose Estimation with Embedding Vector Featurescited by 35
  11. 2022DPODv2: Dense Correspondence-Based 6 DoF Pose Estimationcited by 32
  12. 2021Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Votingcited by 25
  13. 2022Uni6D: A Unified CNN Framework without Projection Breakdown for 6D Pose Estimationcited by 22
  14. 2022ES6D: A Computation Efficient and Symmetry-Aware 6D Pose Regression Frameworkcited by 19
  15. 2022YOLOPose: Transformer-based Multi-Object 6D Pose Estimation using Keypoint Regressioncited by 17
  16. 2021T6D-Direct: Transformers for Multi-Object 6D Pose Direct Regressioncited by 16
  17. 2023Deep Fusion Transformer Network with Weighted Vector-Wise Keypoints Voting for Robust 6D Object Pose Estimationcited by 16
  18. 2023Coarse-to-Fine Multi-Scene Pose Regression with Transformerscited by 11
  19. 2019MaskedFusion: Mask-based 6D Object Pose Estimationcited by 9
  20. 2022Uni6Dv2: Noise Elimination for 6D Pose Estimationcited by 4

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Cited by year

Citing papers per year: 2024: 2; 2025: 3.

5 papers.

  1. 2025HccePose(BF): Predicting Front & Back Surfaces to Construct Ultra-Dense 2D-3D Correspondences for Pose Estimationcited by 3
  2. 2024End-to-End Probabilistic Geometry-Guided Regression for 6DoF Object Pose Estimationcited by 2
  3. 2024FAST GDRNPP: Improving the Speed of State-of-the-Art 6D Object Pose Estimationcited by 0
  4. 2025RCGNet: RGB-based Category-Level 6D Object Pose Estimation with Geometric Guidancecited by 0
  5. 2025VLM6D: VLM based 6Dof Pose Estimation based on RGB-D Imagescited by 0