mlsanityData to 7 Oct 2026

Resolving Symmetry Ambiguity in Correspondence-based Methods for Instance-level Object Pose Estimation

arXiv 2405.10557 ↗First posted 17 May 2024cs.CVcited by 1

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Abstract (arXiv)

Estimating the 6D pose of an object from a single RGB image is a critical task that becomes additionally challenging when dealing with symmetric objects. Recent approaches typically establish one-to-one correspondences between image pixels and 3D object surface vertices. However, the utilization of one-to-one correspondences introduces ambiguity for symmetric objects. To address this, we propose SymCode, a symmetry-aware surface encoding that encodes the object surface vertices based on one-to-many correspondences, eliminating the problem of one-to-one correspondence ambiguity. We also introduce SymNet, a fast end-to-end network that directly regresses the 6D pose parameters without solving a PnP problem. We demonstrate faster runtime and comparable accuracy achieved by our method on the T-LESS and IC-BIN benchmarks of mostly symmetric objects. Our source code will be released upon acceptance.

Key facts. Cited by 1 paper in the map (data through 7 Oct 2026). Builds on 33 of its 51 references that are in the map. First posted on arXiv 17 May 2024.

Builds on

33 of 51 references.

References · 33

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  11. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  12. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
21 more
  1. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  2. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  3. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  4. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  5. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  6. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  7. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
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  9. 2024BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objectscited by 60
  10. 2018Deep Model-Based 6D Pose Refinement in RGBcited by 59
  11. 2020EfficientPose: An efficient, accurate and scalable end-to-end 6D multi object pose estimation approachcited by 46
  12. 2019On Object Symmetries and 6D Pose Estimation from Imagescited by 33
  13. 2022DPODv2: Dense Correspondence-Based 6 DoF Pose Estimationcited by 32
  14. 2018Deep-6DPose: Recovering 6D Object Pose from a Single RGB Imagecited by 26
  15. 2022OPA-3D: Occlusion-Aware Pixel-Wise Aggregation for Monocular 3D Object Detectioncited by 23
  16. 20216D-ViT: Category-Level 6D Object Pose Estimation via Transformer-based Instance Representation Learningcited by 20
  17. 2022ES6D: A Computation Efficient and Symmetry-Aware 6D Pose Regression Frameworkcited by 19
  18. 2023HiPose: Hierarchical Binary Surface Encoding and Correspondence Pruning for RGB-D 6DoF Object Pose Estimationcited by 17
  19. 2022CRT-6D: Fast 6D Object Pose Estimation with Cascaded Refinement Transformerscited by 15
  20. 2018SilhoNet: An RGB Method for 6D Object Pose Estimationcited by 14
  21. 2020Handling Object Symmetries in CNN-based Pose Estimationcited by 8

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 1.

1 paper.

  1. 2026Learning Cross-View Semantic Priors for Single-Reference Unseen Object Pose Estimationcited by 0