mlsanityData to 14 Oct 2026

Unified Category-Level Object Detection and Pose Estimation from RGB Images using 3D Prototypes

arXiv 2508.02157 ↗First posted 4 Aug 2025cs.CVcited by 4

Not on the map. Why?

Abstract (arXiv)

Recognizing objects in images is a fundamental problem in computer vision. Although detecting objects in 2D images is common, many applications require determining their pose in 3D space. Traditional category-level methods rely on RGB-D inputs, which may not always be available, or employ two-stage approaches that use separate models and representations for detection and pose estimation. For the first time, we introduce a unified model that integrates detection and pose estimation into a single framework for RGB images by leveraging neural mesh models with learned features and multi-model RANSAC. Our approach achieves state-of-the-art results for RGB category-level pose estimation on REAL275, improving on the current state-of-the-art by 22.9% averaged across all scale-agnostic metrics. Finally, we demonstrate that our unified method exhibits greater robustness compared to single-stage baselines. Our code and models are available at https://github.com/Fischer-Tom/unified-detection-and-pose-estimation.

Key facts. Cited by 4 papers in the map (data through 14 Oct 2026). Builds on 47 of its 66 references that are in the map. First posted on arXiv 4 Aug 2025.

Builds on

47 of 66 references.

References · 47

  1. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,639
  2. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,974
  3. 2020End-to-End Object Detection with Transformerscited by 7,414
  4. 2017Mask R-CNNcited by 7,277
  5. 2016SGDR: Stochastic Gradient Descent with Warm Restartscited by 5,045
  6. 2020Accelerating 3D Deep Learning with PyTorch3Dcited by 784
  7. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  8. 2022AdaptFormer: Adapting Vision Transformers for Scalable Visual Recognitioncited by 719
  9. 2017Generalised Dice overlap as a deep learning loss function for highly unbalanced segmentationscited by 620
  10. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  11. 2021Deep ViT Features as Dense Visual Descriptorscited by 330
  12. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
35 more
  1. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  2. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  3. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  4. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  5. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 161
  6. 2017Graph-Cut RANSACcited by 133
  7. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 116
  8. 2018Segmentation-driven 6D Object Pose Estimationcited by 104
  9. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  10. 2018Benchmarking Neural Network Robustness to Common Corruptions and Surface Variationscited by 99
  11. 2019Single-Stage 6D Object Pose Estimationcited by 88
  12. 2022You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstrationcited by 81
  13. 2022Category-Level 6D Object Pose and Size Estimation using Self-Supervised Deep Prior Deformation Networkscited by 74
  14. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 72
  15. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 70
  16. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 53
  17. 2021CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulationcited by 49
  18. 2023GenPose: Generative Category-level Object Pose Estimation via Diffusion Modelscited by 48
  19. 2020EfficientPose: An efficient, accurate and scalable end-to-end 6D multi object pose estimation approachcited by 46
  20. 2019Progressive-X: Efficient, Anytime, Multi-Model Fitting Algorithmcited by 43
  21. 2024Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimationcited by 43
  22. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
  23. 2021NeMo: Neural Mesh Models of Contrastive Features for Robust 3D Pose Estimationcited by 41
  24. 2021Category-Level Metric Scale Object Shape and Pose Estimationcited by 41
  25. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  26. 2017Real-time Perception meets Reactive Motion Generationcited by 30
  27. 2022Object Level Depth Reconstruction for Category Level 6D Object Pose Estimation From Monocular RGB Imagecited by 30
  28. 2022Robust Category-Level 6D Pose Estimation with Coarse-to-Fine Rendering of Neural Featurescited by 23
  29. 2023Deep Fusion Transformer Network with Weighted Vector-Wise Keypoints Voting for Robust 6D Object Pose Estimationcited by 16
  30. 2023RGB-based Category-level Object Pose Estimation via Decoupled Metric Scale Recoverycited by 14
  31. 2024LaPose: Laplacian Mixture Shape Modeling for RGB-Based Category-Level Object Pose Estimationcited by 14
  32. 2023SOCS: Semantically-aware Object Coordinate Space for Category-Level 6D Object Pose Estimation under Large Shape Variationscited by 13
  33. 2020CoKe: Localized Contrastive Learning for Robust Keypoint Detectioncited by 12
  34. 2022COPE: End-to-end trainable Constant Runtime Object Pose Estimationcited by 10
  35. 2024iNeMo: Incremental Neural Mesh Models for Robust Class-Incremental Learningcited by 10

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 4.

4 papers.

  1. 2026Object Pose Transformer: Unifying Unseen Object Pose Estimationcited by 0
  2. 2026Emergence of a Shared Canonical Object Frame from In-the-Wild Videoscited by 0
  3. 2026Dynamic Inverse Rendering for Enhanced Material-Lighting Decompositioncited by 0
  4. 2026SchemaPose: RGB-Based Category-Level Pose Estimation with Parametric Category Schemacited by 0