# Pose Estimation of Buried Deep-Sea Objects using 3D Vision Deep Learning Models

arXiv: https://arxiv.org/abs/2410.01061 · HTML: https://mlsanity.com/paper/2410.01061/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 14 of its 38 references that are in the map.
- First posted on arXiv 1 Oct 2024.

## Builds on (most cited first, 14 of 14)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detection](https://mlsanity.com/paper/2203.03605/) (2022)
- [FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects](https://mlsanity.com/paper/2312.08344/) (2023)
- [PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation](https://mlsanity.com/paper/1812.11788/) (2018)
- [Visual Geometry Grounded Deep Structure From Motion](https://mlsanity.com/paper/2312.04563/) (2023)
- [Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimation](https://mlsanity.com/paper/1908.07433/) (2019)
- [Unsupervised Point Cloud Pre-Training via Occlusion Completion](https://mlsanity.com/paper/2010.01089/) (2020)
- [Supervised Fitting of Geometric Primitives to 3D Point Clouds](https://mlsanity.com/paper/1811.08988/) (2018)
- [Fast and Robust Iterative Closest Point](https://mlsanity.com/paper/2007.07627/) (2020)
- [FlowMap: High-Quality Camera Poses, Intrinsics, and Depth via Gradient Descent](https://mlsanity.com/paper/2404.15259/) (2024)
- [NeRF-Pose: A First-Reconstruct-Then-Regress Approach for Weakly-supervised 6D Object Pose Estimation](https://mlsanity.com/paper/2203.04802/) (2022)

## Built on by (most cited first, 1 of 1)

- [PoseIDON: 6DoF Pose Estimation with Foundation Model Features for Marine Sediment Burial Mapping](https://mlsanity.com/paper/2506.10386/) (2025)

## Abstract (arXiv)

We present an approach for pose and burial fraction estimation of debris field barrels found on the seabed in the Southern California San Pedro Basin. Our computational workflow leverages recent advances in foundation models for segmentation and a vision transformer-based approach to estimate the point cloud which defines the geometry of the barrel. We propose BarrelNet for estimating the 6-DOF pose and radius of buried barrels from the barrel point clouds as input. We train BarrelNet using synthetically generated barrel point clouds, and qualitatively demonstrate the potential of our approach using remotely operated vehicle (ROV) video footage of barrels found at a historic dump site. We compare our method to a traditional least squares fitting approach and show significant improvement according to our defined benchmarks.