mlsanityData to 14 Oct 2026

MemPose: Category-level Object Pose Estimation with Memory

arXiv 2607.04930 ↗First posted 6 Jul 2026cs.CV cs.AIcited by 1

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Abstract (arXiv)

In the pursuit of robust and generalizable category-level object pose estimation, most existing methods adopt parametric formulations that learn effective representations from data, yet they primarily encode category-level patterns into fixed shape priors or static parameter weights, which limits their scalability to highly diverse instances. In this paper, we rethink category-level pose estimation from a memory-centric perspective and present MemPose, a memory-augmented framework that explicitly incorporates category-level geometric memory into the pose estimation pipeline. We introduce an external memory buffer that stores and dynamically updates structural representations from previously observed instances, enabling the model to leverage accumulated experience to support current perception. Extensive experiments on four challenging benchmarks (REAL275, CAMERA25, Housecat6D and Wild6D) demonstrate the superiority of our proposed method over previous state-of-the-art approaches.

Key facts. Cited by 1 paper in the map (data through 14 Oct 2026). Builds on 37 of its 48 references that are in the map. First posted on arXiv 6 Jul 2026.

Builds on

37 of 48 references.

References · 37

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  3. 2020End-to-End Object Detection with Transformerscited by 7,414
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  8. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
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  11. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 161
  12. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
25 more
  1. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  2. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  3. 2022Category-Level 6D Object Pose and Size Estimation using Self-Supervised Deep Prior Deformation Networkscited by 74
  4. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  5. 2024MemFlow: Optical Flow Estimation and Prediction with Memorycited by 55
  6. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  7. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 53
  8. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 53
  9. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 49
  10. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  11. 2024Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimationcited by 43
  12. 2023VI-Net: Boosting Category-level 6D Object Pose Estimation via Learning Decoupled Rotations on the Spherical Representationscited by 41
  13. 2023MBPTrack: Improving 3D Point Cloud Tracking with Memory Networks and Box Priorscited by 24
  14. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 18
  15. 2024CLIPose: Category-Level Object Pose Estimation with Pre-trained Vision-Language Knowledgecited by 16
  16. 2025Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimationcited by 16
  17. 2024SAM-LAD: Segment Anything Model Meets Zero-Shot Logic Anomaly Detectioncited by 14
  18. 2025TeleMem: Building Long-Term and Multimodal Memory for Agentic AIcited by 14
  19. 2025CleanPose: Category-Level Object Pose Estimation via Causal Learning and Knowledge Distillationcited by 10
  20. 2025Learning Shape-Independent Transformation via Spherical Representations for Category-Level Object Pose Estimationcited by 8
  21. 2023Fine-Grained Spatiotemporal Motion Alignment for Contrastive Video Representation Learningcited by 7
  22. 2023TransPose: 6D Object Pose Estimation with Geometry-Aware Transformercited by 7
  23. 2024MoTE: Reconciling Generalization with Specialization for Visual-Language to Video Knowledge Transfercited by 5
  24. 2025Online Dense Point Tracking with Streaming Memorycited by 3
  25. 2025Joint Learning of Pose Regression and Denoising Diffusion with Score Scaling Sampling for Category-level 6D Pose Estimationcited by 1

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 1.

1 paper.

  1. 2026GenCOPE: Syn2Real Generalized Category-Level Object Pose Estimation for Robotic Pickingcited by 0