Papers › Implicit 3D Orientation Learning for 6D Object Detection from RGB Images
Implicit 3D Orientation Learning for 6D Object Detection from RGB Images
Martin Sundermeyer, Zoltan-Csaba Marton, Maximilian Durner, Manuel Brucker, Rudolph Triebel
We propose a real-time RGB-based pipeline for object detection and 6D pose estimation. Our novel 3D orientation estimation is based on a variant of the Denoising Autoencoder that is trained on simulated views of a 3D model using Domain Randomization. This so-called Augmented Autoencoder has several advantages over existing methods: It does not require real, pose-annotated training data, generalizes to various test sensors and inherently handles object and view symmetries. Instead of learning an explicit mapping from input images to object poses, it provides an implicit representation of object orientations defined by samples in a latent space. Our pipeline achieves state-of-the-art performance on the T-LESS dataset both in the RGB and RGB-D domain. We also evaluate on the LineMOD dataset where we can compete with other synthetically trained approaches. We further increase performance by correcting 3D orientation estimates to account for perspective errors when the object deviates from the image center and show extended results.
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Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| 6D Pose Estimation using RGB | LineMOD | Augmented Autoencoder | Mean ADD | 28.7 | #21 of 22 | Archive leaderboard | report |
| 6D Pose Estimation using RGB | T-LESS | Augmented Autoencoder | Mean Recall | 36.8 | #2 of 2 | Archive leaderboard | report |
| 6D Pose Estimation using RGBD | LineMOD | Augmented Autoencoder | Mean ADD | 64.67 | #7 of 8 | Archive leaderboard | report |
| 6D Pose Estimation using RGBD | T-LESS | Augmented Autoencoder | Mean Recall | 72.76 | #1 of 1 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
Methods
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