mlsanityData to 7 Oct 2026

DKPMV: Dense Keypoints Fusion from Multi-View RGB Frames for 6D Pose Estimation of Textureless Objects

arXiv 2510.10933 ↗First posted 13 Oct 2025cs.CV cs.ROcited by 0

Not on the map. Why?

Abstract (arXiv)

6D pose estimation of textureless objects is valuable for industrial robotic applications, yet remains challenging due to the frequent loss of depth information. Current multi-view methods either rely on depth data or insufficiently exploit multi-view geometric cues, limiting their performance. In this paper, we propose DKPMV, a pipeline that achieves dense keypoint-level fusion using only multi-view RGB images as input. We design a three-stage progressive pose optimization strategy that leverages dense multi-view keypoint geometry information. To enable effective dense keypoint fusion, we enhance the keypoint network with attentional aggregation and symmetry-aware training, improving prediction accuracy and resolving ambiguities on symmetric objects. Extensive experiments on the ROBI dataset demonstrate that DKPMV outperforms state-of-the-art multi-view RGB approaches and even surpasses the RGB-D methods in the majority of cases. The code will be available soon.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 38 of its 50 references that are in the map. First posted on arXiv 13 Oct 2025.

Builds on

38 of 50 references.

References · 38

  1. 2018Dynamic Graph CNN for Learning on Point Cloudscited by 2,220
  2. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,437
  3. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
  4. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  5. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  6. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  7. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  8. 2019PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Trackingcited by 91
  9. 20176-DoF Object Pose from Semantic Keypointscited by 89
  10. 2019Single-Stage 6D Object Pose Estimationcited by 88
  11. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  12. 2023EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for Monocular Object Pose Estimationcited by 79
26 more
  1. 2019KeyPose: Multi-View 3D Labeling and Keypoint Estimation for Transparent Objectscited by 75
  2. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  3. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  4. 2019On Object Symmetries and 6D Pose Estimation from Imagescited by 33
  5. 20206D Object Pose Regression via Supervised Learning on Point Cloudscited by 33
  6. 2020Vid2CAD: CAD Model Alignment using Multi-View Constraints from Videoscited by 33
  7. 2022Iterative Corresponding Geometry: Fusing Region and Depth for Highly Efficient 3D Tracking of Textureless Objectscited by 30
  8. 2022Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimationcited by 28
  9. 20236D-Diff: A Keypoint Diffusion Framework for 6D Object Pose Estimationcited by 24
  10. 2021ROBI: A Multi-View Dataset for Reflective Objects in Robotic Bin-Pickingcited by 22
  11. 2023TEMPO: Efficient Multi-View Pose Estimation, Tracking, and Forecastingcited by 22
  12. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  13. 2020Single Shot 6D Object Pose Estimationcited by 19
  14. 2021CloudAAE: Learning 6D Object Pose Regression with On-line Data Synthesis on Point Cloudscited by 15
  15. 2023CheckerPose: Progressive Dense Keypoint Localization for Object Pose Estimation with Graph Neural Networkcited by 15
  16. 2022TransNet: Category-Level Transparent Object Pose Estimationcited by 13
  17. 2021A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAMcited by 12
  18. 2021KDFNet: Learning Keypoint Distance Field for 6D Object Pose Estimationcited by 9
  19. 2024ASGrasp: Generalizable Transparent Object Reconstruction and 6-DoF Grasp Detection from RGB-D Active Stereo Cameracited by 9
  20. 2022Multi-View Object Pose Refinement With Differentiable Renderercited by 8
  21. 20226D Pose Estimation for Textureless Objects on RGB Frames using Multi-View Optimizationcited by 7
  22. 2022Next-Best-View Prediction for Active Stereo Cameras and Highly Reflective Objectscited by 4
  23. 2023Multi-View Keypoints for Reliable 6D Object Pose Estimationcited by 4
  24. 2025Active 6D Pose Estimation for Textureless Objects using Multi-View RGB Framescited by 3
  25. 2025ZeroBP: Learning Position-Aware Correspondence for Zero-shot 6D Pose Estimation in Bin-Pickingcited by 2
  26. 2025Reasoning and Learning a Perceptual Metric for Self-Training of Reflective Objects in Bin-Picking with a Low-cost Cameracited by 2

Built on by

Not cited yet.