mlsanityData to 14 Oct 2026

Category-Level and Open-Set Object Pose Estimation for Robotics

arXiv 2504.19572 ↗First posted 28 Apr 2025cs.CV cs.ROcited by 0

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Abstract (arXiv)

Object pose estimation enables a variety of tasks in computer vision and robotics, including scene understanding and robotic grasping. The complexity of a pose estimation task depends on the unknown variables related to the target object. While instance-level methods already excel for opaque and Lambertian objects, category-level and open-set methods, where texture, shape, and size are partially or entirely unknown, still struggle with these basic material properties. Since texture is unknown in these scenarios, it cannot be used for disambiguating object symmetries, another core challenge of 6D object pose estimation. The complexity of estimating 6D poses with such a manifold of unknowns led to various datasets, accuracy metrics, and algorithmic solutions. This paper compares datasets, accuracy metrics, and algorithms for solving 6D pose estimation on the category-level. Based on this comparison, we analyze how to bridge category-level and open-set object pose estimation to reach generalization and provide actionable recommendations.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 21 of its 29 references that are in the map. First posted on arXiv 28 Apr 2025.

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21 of 29 references.

References · 21

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  10. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  11. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  12. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
9 more
  1. 2021Category-Level Metric Scale Object Shape and Pose Estimationcited by 41
  2. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  3. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  4. 2024DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimationcited by 25
  5. 2024OmniNOCS: A unified NOCS dataset and model for 3D lifting of 2D objectscited by 22
  6. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  7. 2021ACR-Pose: Adversarial Canonical Representation Reconstruction Network for Category Level 6D Object Pose Estimationcited by 20
  8. 2022StereoPose: Category-Level 6D Transparent Object Pose Estimation from Stereo Images via Back-View NOCScited by 18
  9. 2023SOCS: Semantically-aware Object Coordinate Space for Category-Level 6D Object Pose Estimation under Large Shape Variationscited by 13

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