mlsanityData to 14 Oct 2026

Omni6DPose: A Benchmark and Model for Universal 6D Object Pose Estimation and Tracking

arXiv 2406.04316 ↗First posted 6 Jun 2024cs.CVcited by 50

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Abstract (arXiv)

6D Object Pose Estimation is a crucial yet challenging task in computer vision, suffering from a significant lack of large-scale datasets. This scarcity impedes comprehensive evaluation of model performance, limiting research advancements. Furthermore, the restricted number of available instances or categories curtails its applications. To address these issues, this paper introduces Omni6DPose, a substantial dataset characterized by its diversity in object categories, large scale, and variety in object materials. Omni6DPose is divided into three main components: ROPE (Real 6D Object Pose Estimation Dataset), which includes 332K images annotated with over 1.5M annotations across 581 instances in 149 categories; SOPE(Simulated 6D Object Pose Estimation Dataset), consisting of 475K images created in a mixed reality setting with depth simulation, annotated with over 5M annotations across 4162 instances in the same 149 categories; and the manually aligned real scanned objects used in both ROPE and SOPE. Omni6DPose is inherently challenging due to the substantial variations and ambiguities. To address this challenge, we introduce GenPose++, an enhanced version of the SOTA category-level pose estimation framework, incorporating two pivotal improvements: Semantic-aware feature extraction and Clustering-based aggregation. Moreover, we provide a comprehensive benchmarking analysis to evaluate the performance of previous methods on this large-scale dataset in the realms of 6D object pose estimation and pose tracking.

Key facts. Cited by 50 papers in the map (data through 14 Oct 2026). Builds on 33 of its 42 references that are in the map. First posted on arXiv 6 Jun 2024.

Builds on

33 of 42 references.

References · 33

  1. 2020Score-Based Generative Modeling through Stochastic Differential Equationscited by 9,122
  2. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,974
  3. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  4. 2019Generative Modeling by Estimating Gradients of the Data Distributioncited by 4,101
  5. 2017Matterport3D: Learning from RGB-D Data in Indoor Environmentscited by 1,376
  6. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  7. 2023ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenescited by 764
  8. 2022Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Itemscited by 612
  9. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  10. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  11. 2023OmniObject3D: Large-Vocabulary 3D Object Dataset for Realistic Perception, Reconstruction and Generationcited by 326
  12. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
21 more
  1. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  2. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 84
  3. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  4. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  5. 2022GFPose: Learning 3D Human Pose Prior with Gradient Fieldscited by 57
  6. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 53
  7. 2022Domain Randomization-Enhanced Depth Simulation and Restoration for Perceiving and Grasping Specular and Transparent Objectscited by 50
  8. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 49
  9. 2023GenPose: Generative Category-level Object Pose Estimation via Diffusion Modelscited by 48
  10. 2022PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objectscited by 45
  11. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 41
  12. 2021StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimationcited by 40
  13. 2022CATRE: Iterative Point Clouds Alignment for Category-level Object Pose Refinementcited by 29
  14. 2023GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Graspingcited by 23
  15. 2023RGBManip: Monocular Image-based Robotic Manipulation through Active Object Pose Estimationcited by 14
  16. 2022TarGF: Learning Target Gradient Field to Rearrange Objects without Explicit Goal Specificationcited by 13
  17. 2023Score-PA: Score-based 3D Part Assemblycited by 12
  18. 2021ROFT: Real-Time Optical Flow-Aided 6D Object Pose and Velocity Trackingcited by 10
  19. 2024RoboKeyGen: Robot Pose and Joint Angles Estimation via Diffusion-based 3D Keypoint Generationcited by 10
  20. 2023DR-Pose: A Two-stage Deformation-and-Registration Pipeline for Category-level 6D Object Pose Estimationcited by 6
  21. 2023Learning Gradient Fields for Scalable and Generalizable Irregular Packingcited by 3

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 2; 2025: 20; 2026: 28.

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  1. 2025STI-Bench: Are MLLMs Ready for Precise Spatial-Temporal World Understanding?cited by 79
  2. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 49
  3. 2026Orient Anything V2: Unifying Orientation and Rotation Understandingcited by 23
  4. 2025SceneMaker: Open-set 3D Scene Generation with Decoupled De-occlusion and Pose Estimation Modelcited by 17
  5. 2025See&Trek: Training-Free Spatial Prompting for Multimodal Large Language Modelcited by 15
  6. 2025From Indoor to Open World: Revealing the Spatial Reasoning Gap in MLLMscited by 12
  7. 2025SafeBimanual: Diffusion-based Trajectory Optimization for Safe Bimanual Manipulationcited by 9
  8. 2025CheckManual: A New Challenge and Benchmark for Manual-based Appliance Manipulationcited by 7
  9. 2026EgoGrasp: World-Space Hand-Object Interaction Estimation from Egocentric Videoscited by 7
  10. 2026PoseVLA: Universal Pose Pretraining for Generalizable Vision-Language-Action Policiescited by 7
  11. 2024UniAff: A Unified Representation of Affordances for Tool Usage and Articulation with Vision-Language Modelscited by 6
  12. 2025CAP-Net: A Unified Network for 6D Pose and Size Estimation of Categorical Articulated Parts from a Single RGB-D Imagecited by 5
38 more
  1. 2025MK-Pose: Category-Level Object Pose Estimation via Multimodal-Based Keypoint Learningcited by 4
  2. 2026Embodied3DBench: Benchmarking Low-Level Embodied Spatial Intelligence of Vision Language Modelscited by 4
  3. 2025BoxDreamer: Dreaming Box Corners for Generalizable Object Pose Estimationcited by 3
  4. 2026ProxyPose: 6-DoF Pose Tracking via Video-to-Video Translationcited by 3
  5. 2024Enhancing Single Image to 3D Generation using Gaussian Splatting and Hybrid Diffusion Priorscited by 2
  6. 2025UnPose: Uncertainty-Guided Diffusion Priors for Zero-Shot Pose Estimationcited by 2
  7. 2025Beyond 'Templates': Category-Agnostic Object Pose, Size, and Shape Estimation from a Single Viewcited by 2
  8. 2026AffordGen: Generating Diverse Demonstrations for Generalizable Object Manipulation with Afford Correspondencecited by 2
  9. 2026ReSTI: A Source-Grounded Audit and Repair of STI-Benchcited by 2
  10. 2025Foundation Feature-Driven Online End-Effector Pose Estimation: A Marker-Free and Learning-Free Approachcited by 1
  11. 2025SpikeStereoNet: A Brain-Inspired Framework for Stereo Depth Estimation from Spike Streamscited by 1
  12. 2025T-Rex: Task-Adaptive Spatial Representation Extraction for Robotic Manipulation with Vision-Language Modelscited by 1
  13. 2025Joint Learning of Pose Regression and Denoising Diffusion with Score Scaling Sampling for Category-level 6D Pose Estimationcited by 1
  14. 2026COG: Confidence-aware Optimal Geometric Correspondence for Unsupervised Single-reference Novel Object Pose Estimationcited by 1
  15. 2026CanoVerse: 3D Object Scalable Canonicalization and Dataset for Generation and Posecited by 1
  16. 2026MessyKitchens: Contact-rich object-level 3D scene reconstructioncited by 1
  17. 2026OCH3R: Object-Centric Holistic 3D Reconstructioncited by 1
  18. 2025DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarioscited by 0
  19. 2025DidSee: Diffusion-Based Depth Completion for Material-Agnostic Robotic Perception and Manipulationcited by 0
  20. 2025SCOPE: Semantic Conditioning for Sim2Real Category-Level Object Pose Estimation in Roboticscited by 0
  21. 2025SpikeGrasp: A Benchmark for 6-DoF Grasp Pose Detection from Stereo Spike Streamscited by 0
  22. 2026RFM-Pose:Reinforcement-Guided Flow Matching for Fast Category-Level 6D Pose Estimationcited by 0
  23. 2026Object Pose Transformer: Unifying Unseen Object Pose Estimationcited by 0
  24. 2026SECOND-Grasp: Semantic Contact-guided Dexterous Graspingcited by 0
  25. 2026Every9D-21M: Large-Scale Real-World 9D Canonicalization of Everyday Objectscited by 0
  26. 2026PatchScene: Patch-based Voxel Diffusion for Large-Scale Scene Completioncited by 0
  27. 2026PACT: Self-Evolving Physical Safety Alignment for Diffusion Policies in Embodied Manipulationcited by 0
  28. 2026ManiSplat: Manipulation Trajectory Synthesis from Monocular Video via Decoupled 3D Gaussian Splattingcited by 0
  29. 2026Pose Anything Anywhere:Model-free Object Poses from Arbitrary Referencescited by 0
  30. 2026Emergence of a Shared Canonical Object Frame from In-the-Wild Videoscited by 0
  31. 2026UniPose9D: Universal Category-Agnostic Object Pose Estimationcited by 0
  32. 2026PriorPose: Reference-Guided Joint Deformation and Alignment for Category-Level Object Pose Estimationcited by 0
  33. 2026Toward Comprehensive 3D Grounding: Orientation Grounding through Vision-Language Modelscited by 0
  34. 2026LEGAU: Learning Semantic Gaussian Priors for Scalable Category-level Pose Estimationcited by 0
  35. 2026LeRF: Learning Reference Coordinate Frames for Perspective Taking Reasoningcited by 0
  36. 2026GenCOPE: Syn2Real Generalized Category-Level Object Pose Estimation for Robotic Pickingcited by 0
  37. 2026ASM-6D: Fast Certified Pose-Shape Inference with Complete Correspondence Flow Mapscited by 0
  38. 2026ReTAC: Residual Test-Time Agentic Computation for Video Spatial Reasoningcited by 0