# DA-Fusion: Deformable Attention-Based RGB-D Fusion Transformer for Unseen Object Instance Segmentation

arXiv: https://arxiv.org/abs/2607.17754 · HTML: https://mlsanity.com/paper/2607.17754/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 24 of its 35 references that are in the map.
- First posted on arXiv 20 Jul 2026.

## Builds on (most cited first, 24 of 24)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Deformable DETR: Deformable Transformers for End-to-End Object Detection](https://mlsanity.com/paper/2010.04159/) (2020)
- [Masked-attention Mask Transformer for Universal Image Segmentation](https://mlsanity.com/paper/2112.01527/) (2021)
- [V-Net: Fully Convolutional Neural Networks for Volumetric Medical Image Segmentation](https://mlsanity.com/paper/1606.04797/) (2016)
- [Per-Pixel Classification is Not All You Need for Semantic Segmentation](https://mlsanity.com/paper/2107.06278/) (2021)
- [CMX: Cross-Modal Fusion for RGB-X Semantic Segmentation with Transformers](https://mlsanity.com/paper/2203.04838/) (2022)
- [Learning Rich Features from RGB-D Images for Object Detection and Segmentation](https://mlsanity.com/paper/1407.5736/) (2014)
- [CGNet: A Light-weight Context Guided Network for Semantic Segmentation](https://mlsanity.com/paper/1811.08201/) (2018)
- [6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark](https://mlsanity.com/paper/2203.05701/) (2022)
- [Unseen Object Instance Segmentation for Robotic Environments](https://mlsanity.com/paper/2007.08073/) (2020)
- [Depth-aware CNN for RGB-D Segmentation](https://mlsanity.com/paper/1803.06791/) (2018)
- [Learning RGB-D Feature Embeddings for Unseen Object Instance Segmentation](https://mlsanity.com/paper/2007.15157/) (2020)
- [EasyLabel: A Semi-Automatic Pixel-wise Object Annotation Tool for Creating Robotic RGB-D Datasets](https://mlsanity.com/paper/1902.01626/) (2019)
- [Unseen Object Amodal Instance Segmentation via Hierarchical Occlusion Modeling](https://mlsanity.com/paper/2109.11103/) (2021)
- [The Best of Both Modes: Separately Leveraging RGB and Depth for Unseen Object Instance Segmentation](https://mlsanity.com/paper/1907.13236/) (2019)
- [Mean Shift Mask Transformer for Unseen Object Instance Segmentation](https://mlsanity.com/paper/2211.11679/) (2022)
- [MetaGraspNet: A Large-Scale Benchmark Dataset for Scene-Aware Ambidextrous Bin Picking via Physics-based Metaverse Synthesis](https://mlsanity.com/paper/2208.03963/) (2022)
- [Early or Late Fusion Matters: Efficient RGB-D Fusion in Vision Transformers for 3D Object Recognition](https://mlsanity.com/paper/2210.00843/) (2022)
- [FPCC: Fast Point Cloud Clustering based Instance Segmentation for Industrial Bin-picking](https://mlsanity.com/paper/2012.14618/) (2020)
- [DoraPicker: An Autonomous Picking System for General Objects](https://mlsanity.com/paper/1603.06317/) (2016)
- [MetaGraspNet_v0: A Large-Scale Benchmark Dataset for Vision-driven Robotic Grasping via Physics-based Metaverse Synthesis](https://mlsanity.com/paper/2112.14663/) (2021)

## Abstract (arXiv)

In logistics automation, precise segmentation of unseen objects is crucial for efficient robotic manipulation in cluttered environments. Tasks such as bin-picking and shelf-picking require robust perception to handle occlusions, varying object shapes, and complex spatial arrangements. Traditional RGB-based methods tend to over-segment objects due to their reliance on texture, while depth-based methods often under-segment by focusing primarily on geometric features. To address these limitations, we propose DA-Fusion, a deformable attention-based RGB-D fusion Transformer designed for unseen object instance segmentation. DA-Fusion effectively combines the strengths of both RGB and depth data, enhancing segmentation accuracy in cluttered and multi-layered object environments. We also introduce the Object Clutter Bin Dataset (OCBD), a benchmark dataset specifically tailored for evaluating bin-picking scenarios in top-down views. Extensive evaluations demonstrate that DA-Fusion outperforms state-of-the-art methods across diverse environments, making it particularly suited for real-world logistics tasks.