# Domain Generalization for 6D Pose Estimation Through NeRF-based Image Synthesis

arXiv: https://arxiv.org/abs/2407.10762 · HTML: https://mlsanity.com/paper/2407.10762/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 35 of its 45 references that are in the map.
- First posted on arXiv 15 Jul 2024.

## Builds on (most cited first, 30 of 35)

- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [The Many Faces of Robustness: A Critical Analysis of Out-of-Distribution Generalization](https://mlsanity.com/paper/2006.16241/) (2020)
- [Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World](https://mlsanity.com/paper/1703.06907/) (2017)
- [ImageNet-trained CNNs are biased towards texture; increasing shape bias improves accuracy and robustness](https://mlsanity.com/paper/1811.12231/) (2018)
- [Random Erasing Data Augmentation](https://mlsanity.com/paper/1708.04896/) (2017)
- [NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collections](https://mlsanity.com/paper/2008.02268/) (2020)
- [EfficientDet: Scalable and Efficient Object Detection](https://mlsanity.com/paper/1911.09070/) (2019)
- [Meta-Learning in Neural Networks: A Survey](https://mlsanity.com/paper/2004.05439/) (2020)
- [Generalizing to Unseen Domains: A Survey on Domain Generalization](https://mlsanity.com/paper/2103.03097/) (2021)
- [K-Planes: Explicit Radiance Fields in Space, Time, and Appearance](https://mlsanity.com/paper/2301.10241/) (2023)
- [Domain Generalization via Invariant Feature Representation](https://mlsanity.com/paper/1301.2115/) (2013)
- [Learning to Learn Single Domain Generalization](https://mlsanity.com/paper/2003.13216/) (2020)
- [Learning to Generate Novel Domains for Domain Generalization](https://mlsanity.com/paper/2007.03304/) (2020)
- [A Brief Review of Domain Adaptation](https://mlsanity.com/paper/2010.03978/) (2020)
- [Generalizing Across Domains via Cross-Gradient Training](https://mlsanity.com/paper/1804.10745/) (2018)
- [Learning to Diversify for Single Domain Generalization](https://mlsanity.com/paper/2108.11726/) (2021)
- [Style Augmentation: Data Augmentation via Style Randomization](https://mlsanity.com/paper/1809.05375/) (2018)
- [MixStyle Neural Networks for Domain Generalization and Adaptation](https://mlsanity.com/paper/2107.02053/) (2021)
- [Satellite Pose Estimation Challenge: Dataset, Competition Design and Results](https://mlsanity.com/paper/1911.02050/) (2019)
- [SPEED+: Next-Generation Dataset for Spacecraft Pose Estimation across Domain Gap](https://mlsanity.com/paper/2110.03101/) (2021)
- [Satellite Pose Estimation with Deep Landmark Regression and Nonlinear Pose Refinement](https://mlsanity.com/paper/1908.11542/) (2019)
- [Deep Learning for Spacecraft Pose Estimation from Photorealistic Rendering](https://mlsanity.com/paper/1907.04298/) (2019)
- [EfficientPose: An efficient, accurate and scalable end-to-end 6D multi object pose estimation approach](https://mlsanity.com/paper/2011.04307/) (2020)
- [Robust Multi-Task Learning and Online Refinement for Spacecraft Pose Estimation across Domain Gap](https://mlsanity.com/paper/2203.04275/) (2022)
- [Hide-and-Seek: A Data Augmentation Technique for Weakly-Supervised Localization and Beyond](https://mlsanity.com/paper/1811.02545/) (2018)
- [Neural-Sim: Learning to Generate Training Data with NeRF](https://mlsanity.com/paper/2207.11368/) (2022)
- [Bridging the Domain Gap in Satellite Pose Estimation: a Self-Training Approach based on Geometrical Constraints](https://mlsanity.com/paper/2212.12103/) (2022)
- [Domain Shift in Computer Vision models for MRI data analysis: An Overview](https://mlsanity.com/paper/2010.07222/) (2020)
- [Robotic Testbed for Rendezvous and Optical Navigation: Multi-Source Calibration and Machine Learning Use Cases](https://mlsanity.com/paper/2108.05529/) (2021)

## Built on by (most cited first, 5 of 5)

- [NeRF-based Visualization of 3D Cues Supporting Data-Driven Spacecraft Pose Estimation](https://mlsanity.com/paper/2509.14890/) (2025)
- [WALDO: Where Unseen Model-based 6D Pose Estimation Meets Occlusion](https://mlsanity.com/paper/2511.15874/) (2025)
- [EventHub: Data Factory for Generalizable Event-Based Stereo Networks without Active Sensors](https://mlsanity.com/paper/2604.02331/) (2026)
- [NeRF-based Spacecraft Reconstruction from Monocular Imagery Under Illumination Variability and Pose Uncertainty](https://mlsanity.com/paper/2605.18447/) (2026)
- [CAD-Free Learning of Spacecraft Pose Estimators via NeRF-Based Augmentations](https://mlsanity.com/paper/2605.19649/) (2026)

## Abstract (arXiv)

This work introduces a novel augmentation method that increases the diversity of a train set to improve the generalization abilities of a 6D pose estimation network. For this purpose, a Neural Radiance Field is trained from synthetic images and exploited to generate an augmented set. Our method enriches the initial set by enabling the synthesis of images with (i) unseen viewpoints, (ii) rich illumination conditions through appearance extrapolation, and (iii) randomized textures. We validate our augmentation method on the challenging use-case of spacecraft pose estimation and show that it significantly improves the pose estimation generalization capabilities. On the SPEED+ dataset, our method reduces the error on the pose by 50% on both target domains.