mlsanityData to 14 Oct 2026

RAG-6DPose: Retrieval-Augmented 6D Pose Estimation via Leveraging CAD as Knowledge Base

arXiv 2506.18856 ↗First posted 23 Jun 2025cs.CVcited by 0

Not on the map. Why?

Abstract (arXiv)

Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach that leverages 3D CAD models as a knowledge base by integrating both visual and geometric cues. Our RAG-6DPose roughly contains three stages: 1) Building a Multi-Modal CAD Knowledge Base by extracting 2D visual features from multi-view CAD rendered images and also attaching 3D points; 2) Retrieving relevant CAD features from the knowledge base based on the current query image via our ReSPC module; and 3) Incorporating retrieved CAD information to refine pose predictions via retrieval-augmented decoding. Experimental results on standard benchmarks and real-world robotic tasks demonstrate the effectiveness and robustness of our approach, particularly in handling occlusions and novel viewpoints. Supplementary material is available on our project website: https://sressers.github.io/RAG-6DPose .

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 32 of its 45 references that are in the map. First posted on arXiv 23 Jun 2025.

Builds on

32 of 45 references.

References · 32

  1. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,713
  2. 2020Retrieval-Augmented Generation for Knowledge-Intensive NLP Taskscited by 9,297
  3. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,974
  4. 2018Representation Learning with Contrastive Predictive Codingcited by 7,777
  5. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  6. 2016Aggregated Residual Transformations for Deep Neural Networkscited by 2,546
  7. 2020Implicit Neural Representations with Periodic Activation Functionscited by 2,238
  8. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  9. 2023VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Modelscited by 750
  10. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  11. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  12. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
20 more
  1. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  2. 2020BOP Challenge 2020 on 6D Object Localizationcited by 193
  3. 2019HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objectscited by 110
  4. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  5. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  6. 2023CNOS: A Strong Baseline for CAD-based Novel Object Segmentationcited by 87
  7. 2015Recovering 6D Object Pose and Predicting Next-Best-View in the Crowdcited by 79
  8. 2024BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objectscited by 60
  9. 2023FreeZe: Training-free zero-shot 6D pose estimation with geometric and vision foundation modelscited by 57
  10. 2022CorrI2P: Deep Image-to-Point Cloud Registration via Dense Correspondencecited by 44
  11. 2022Perspective Flow Aggregation for Data-Limited 6D Object Pose Estimationcited by 32
  12. 2022DPODv2: Dense Correspondence-Based 6 DoF Pose Estimationcited by 32
  13. 2025Retrieval Augmented Generation and Understanding in Vision: A Survey and New Outlookcited by 32
  14. 2024Beyond Text: Optimizing RAG with Multimodal Inputs for Industrial Applicationscited by 31
  15. 2022Neural Correspondence Field for Object Pose Estimationcited by 21
  16. 2025RealRAG: Retrieval-augmented Realistic Image Generation via Self-reflective Contrastive Learningcited by 20
  17. 2022CRT-6D: Fast 6D Object Pose Estimation with Cascaded Refinement Transformerscited by 15
  18. 2025Domain-RAG: Retrieval-Guided Compositional Image Generation for Cross-Domain Few-Shot Object Detectioncited by 15
  19. 2024MRC-Net: 6-DoF Pose Estimation with MultiScale Residual Correlationcited by 11
  20. 2022DCL-Net: Deep Correspondence Learning Network for 6D Pose Estimationcited by 9

Built on by

Not cited yet.

Similar, not cited

Close in wording, no citation either way

  1. 2026RAGrasp: Geometry-Semantic Template Retrieval and Grasp Transfer
  2. 2023Challenges for Monocular 6D Object Pose Estimation in Robotics
  3. 2025ActivePose: Active 6D Object Pose Estimation and Tracking for Robotic Manipulation
  4. 2026OMNI-PoseX: A Fast Vision Model for 6D Object Pose Estimation in Embodied Tasks ↗
  5. 2025SE(3)-PoseFlow: Estimating 6D Pose Distributions for Uncertainty-Aware Robotic Manipulation
  6. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integration
  7. 2023Collision-aware In-hand 6D Object Pose Estimation using Multiple Vision-based Tactile Sensors
  8. 2026RoboSeg: Online Part-Level Semantic Reconstruction for Robotic Manipulation via a Single Eye-in-Hand Camera ↗