Awesome Object Pose Estimation and Reconstruction

A curated list of related resources for 6D object pose estimation, also including 3D objects reconstruction from a single view, and 3D hand-object pose estimation. 🔥 means new update.

Due to my personal interests, geometry-based work (SFM-based or SLAM-based work) are not collected here. Those papers can be found here.

Another related paper list is about the hand pose estimation, which can be found here.

Some awesome open-source demos (CenterSnap, NOCS, BundleTrack and se(3)-TrackNet)：

<p float="left"> <img src="./media/centersnap_reconstruction.gif" width="600" /> </p> <p float="left"> <img src="./media/6dtracking.gif" width="300" /> <img src="./media/ycbineoat.gif" width="300" /> </p> <p float="left"> <img src="./media/ycb_packing.gif" width="600" /> </p>

Contents

<!-- - [Evaluation](#evaluation) -->

• arXiv Papers🔥
• Journal Papers
  • TPAMI / IJCV
  • Others
• Conference Papers
  • 2024: CVPR🔥
  • 2023: CVPR, ICCV, ICRA, IROS
  • 2022: CVPR, ECCV, ICRA, IROS, Others
  • 2021: CVPR, ICCV, ICRA, IROS, Others
  • 2020: CVPR, ECCV, Others
  • 2019: CVPR, ICCV, Others
  • 2018: CVPR, ECCV, Others
  • 2017: CVPR, ICCV, Others
  • 2016: CVPR, Others
  • 2015: CVPR, ICCV, Others
  • 2014: CVPR, Others
• Thesis
• Datasets
  • Benchmark 6D Object Pose Estimation
• Workshops
  • Workshops on 3D Vision and Robotics
    • 3DV&R 2021: Workshop Papers
  • Workshops on Recovering 6D Object Pose
    • R6D 2020: Talk Slides, Workshop Papers
    • R6D 2019: Talk Slides, Workshop Papers
    • R6D 2018: Talk Slides, Workshop Papers
  • Workshops on Learning 3D Representations for Shape and Appearance
    • 3DReps 2020: Workshop Videos, Workshop Papers
• Challenges
  • BOP Challenge 2020
    • Datasets, Documents, Slides
  • BOP Challenge 2019
    • Documents
• Researchers
  • U.S./Canada
  • Europe
  • Asia
  • Australia

* indicates equal contribution

<!-- ## Evaluation See folder [``evaluation``](./evaluation) to get more details about performance evaluation for hand pose estimation. -->

arXiv Papers

• [arXiv:2303.06753] Module-Wise Network Quantization for 6D Object Pose Estimation. [PDF]

• [arXiv:2303.11516] Linear-Covariance Loss for End-to-End Learning of 6D Pose Estimation. [PDF]

• [arXiv:2303.13479] Prior-free Category-level Pose Estimation with Implicit Space Transformation. [PDF]

• [arXiv:2210.03437] KRF: Keypoint Refinement with Fusion Network for 6D Pose Estimation. [PDF]

Irvin Haozhe Zhan, Yiheng Han, Yu-Ping Wang, Long Zeng, Yong-Jin Liu

• [arXiv:2210.13540] Video based Object 6D Pose Estimation using Transformers. [PDF]

Apoorva Beedu, Huda Alamri, Irfan Essa

• [arXiv:2210.11973] Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery. [PDF]

Zih-Yun Chiu, Florian Richter, Michael C. Yip

• [arXiv:2210.11545] 6D Pose Estimation for Textureless Objects on RGB Frames using Multi-View Optimization. [PDF]

Jun Yang, Wenjie Xue, Sahar Ghavidel, Steven L. Waslander

• [arXiv:2210.10959] Uni6Dv3: 5D Anchor Mechanism for 6D Pose Estimation. [PDF]

Jianqiu Chen, Mingshan Sun, Ye Zheng, Tianpeng Bao, Zhenyu He, Donghai Li, Guoqiang Jin, Rui Zhao, Liwei Wu, Xiaoke Jiang

• [arXiv:2210.07199] Self-Supervised Geometric Correspondence for Category-Level 6D Object Pose Estimation in the Wild. [PDF]

Kaifeng Zhang, Yang Fu, Shubhankar Borse, Hong Cai, Fatih Porikli, Xiaolong Wang

• [arXiv:2210.05138] CASAPose: Class-Adaptive and Semantic-Aware Multi-Object Pose Estimation. [PDF]

Niklas Gard, Anna Hilsmann, Peter Eisert

• [arXiv:2205.02536] YOLOPose: Transformer-based Multi-Object 6D Pose Estimation using Keypoint Regression. [PDF]

Arash Amini, Arul Selvam Periyasamy, Sven Behnke

• [arXiv:2204.09429] HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillation. [PDF]

Qi Guan, Zihao Sheng, Shibei Xue

• [arXiv:2204.01586] Object Level Depth Reconstruction for Category Level 6D Object Pose Estimation From Monocular RGB Image. [PDF]

Zhaoxin Fan, Zhenbo Song, Jian Xu, Zhicheng Wang, Kejian Wu, Hongyan Liu, Jun He

• [arXiv:2203.15309] Learning-based Point Cloud Registration for 6D Object Pose Estimation in the Real World. [PDF]

Zheng Dang, Lizhou Wang, Yu Guo, Mathieu Salzmann

• [arXiv:2203.04802] NeRF-Pose: A First-Reconstruct-Then-Regress Approach for Weakly-supervised 6D Object Pose Estimation. [PDF]

Fu Li, Hao Yu, Ivan Shugurov, Benjamin Busam, Shaowu Yang, Slobodan Ilic

• [arXiv:2203.04424] Probabilistic Rotation Representation With an Efficiently Computable Bingham Loss Function and Its Application to Pose Estimation. [PDF]

Ziqi Lu, Yihao Zhang, Kevin Doherty, Odin Severinsen, Ethan Yang, John Leonard

• [arXiv:2203.04424] SLAM-Supported Self-Training for 6D Object Pose Estimation. [PDF]

Ziqi Lu, Yihao Zhang, Kevin Doherty, Odin Severinsen, Ethan Yang, John Leonard

• [arXiv:2203.03498] Weakly Supervised Learning of Keypoints for 6D Object Pose Estimation. [PDF]

Meng Tian, Gim Hee Lee

• [arXiv:2203.02069] Sim2Real Instance-Level Style Transfer for 6D Pose Estimation. [PDF]

Takuya Ikeda, Suomi Tanishige, Ayako Amma, Michael Sudano, Hervé Audren, Koichi Nishiwaki

• [arXiv:2203.01051] 3D object reconstruction and 6D-pose estimation from 2D shape for robotic grasping of objects. [PDF]

Marcell Wolnitza, Osman Kaya, Tomas Kulvicius, Florentin Wörgötter, Babette Dellen

• [arXiv:2203.00945] ParaPose: Parameter and Domain Randomization Optimization for Pose Estimation using Synthetic Data. [PDF]

Frederik Hagelskjaer, Anders Glent Buch

• [arXiv:2203.00302] Adversarial samples for deep monocular 6D object pose estimation. [PDF]

Jinlai Zhang, Weiming Li, Shuang Liang, Hao Wang, Jihong Zhu

• [arXiv:2203.00283] ProgressLabeller: Visual Data Stream Annotation for Training Object-Centric 3D Perception. [PDF]

Xiaotong Chen, Huijie Zhang, Zeren Yu, Stanley Lewis, Odest Chadwicke Jenkins

• [arXiv:2202.12555] 6D Rotation Representation For Unconstrained Head Pose Estimation. [PDF] [Code]

Thorsten Hempel, Ahmed A. Abdelrahman, Ayoub Al-Hamadi

• [arXiv:2202.10346] On the Evaluation of RGB-D-based Categorical Pose and Shape Estimation. [PDF]

Leonard Bruns, Patric Jensfelt

• [arXiv:2202.03574] Structured Prediction Problem Archive. [PDF]

Paul Swoboda, Andrea Hornakova, Paul Roetzer, Bogdan Savchynskyy, Ahmed Abbas

• [arXiv:2201.13065] Rigidity Preserving Image Transformations and Equivariance in Perspective. [PDF]

Xinke Deng, Junyi Geng, Timothy Bretl, Yu Xiang, Dieter Fox

• [arXiv:2201.00059] iCaps: Iterative Category-level Object Pose and Shape Estimation. [PDF]

Xinke Deng, Junyi Geng, Timothy Bretl, Yu Xiang, Dieter Fox

• [arXiv:2112.15075] Pose Estimation of Specific Rigid Objects. [PDF]

Tomas Hodan

• [arXiv:2112.03810] Polarimetric Pose Prediction. [PDF]

Daoyi Gao, Yitong Li, Patrick Ruhkamp, Iuliia Skobleva, Magdalena Wysock, HyunJun Jung, Pengyuan Wang, Arturo Guridi, Nassir Navab, Benjamin Busamh Rasmus Laurvig Haugaard, Anders Glent Buch

• [arXiv:2111.10677] VideoPose: Estimating 6D object pose from videos. [PDF]

Apoorva Beedu, Zhile Ren, Varun Agrawal, Irfan Essa

• [arXiv:2111.10524] ACR-Pose: Adversarial Canonical Representation Reconstruction