{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/robust-6d-object-pose-estimation-by-learning","title":"Robust 6D Object Pose Estimation by Learning RGB-D Features","arxiv_id":"2003.00188","date":"2020-02-29","proceeding":null,"authors":["Meng Tian","Liang Pan","Marcelo H. Ang Jr","Gim Hee Lee"],"abstract":"Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of symmetric objects. In this work, we propose a novel discrete-continuous formulation for rotation regression to resolve this local-optimum problem. We uniformly sample rotation anchors in SO(3), and predict a constrained deviation from each anchor to the target, as well as uncertainty scores for selecting the best prediction. Additionally, the object location is detected by aggregating point-wise vectors pointing to the 3D center. Experiments on two benchmarks: LINEMOD and YCB-Video, show that the proposed method outperforms state-of-the-art approaches. Our code is available at https://github.com/mentian/object-posenet.","url_abs":"https://arxiv.org/abs/2003.00188v2","url_pdf":"https://arxiv.org/pdf/2003.00188v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"robust-6d-object-pose-estimation-by-learning","repo_url":"https://github.com/mentian/object-posenet","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"6d-pose-estimation","task_name":"6D Pose Estimation using RGB"},{"task_slug":"object","task_name":"Object"},{"task_slug":"pose-estimation","task_name":"Pose Estimation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2003.00188","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2003.00188"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/mentian/object-posenet","reach":{"status":"ok","spdx":"MIT"}}],"summary":{"ran":1,"unverified":10},"by_repo_kind":{"official":{"samples":11,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"48f5a5ec1d5dd2ef","entry":"conv3x3","repo":"mentian/object-posenet","repo_kind":"official","path":"lib/extractors.py","file_url":"https://github.com/mentian/object-posenet/blob/HEAD/lib/extractors.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"48f5a5ec1d5dd2ef"}},{"code_sha256_prefix":"e1034ecabd32d150","entry":"get_bbox","repo":"mentian/object-posenet","repo_kind":"official","path":"eval_ycb.py","file_url":"https://github.com/mentian/object-posenet/blob/HEAD/eval_ycb.py","link_basis":"plan_row","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"e1034ecabd32d150"}},{"code_sha256_prefix":"c786fa4f4fff59e8","entry":"get_bbox","repo":"mentian/object-posenet","repo_kind":"official","path":"datasets/linemod/dataset.py","file_url":"https://github.com/mentian/object-posenet/blob/HEAD/datasets/linemod/dataset.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"c786fa4f4fff59e8"}},{"code_sha256_prefix":"494f38b6783845e0","entry":"get_bbox","repo":"mentian/object-posenet","repo_kind":"official","path":"datasets/ycb/dataset.py","file_url":"https://github.com/mentian/object-posenet/blob/HEAD/datasets/ycb/dataset.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"494f38b6783845e0"}},{"code_sha256_prefix":"a58ba2b376ee7937","entry":"ply_vtx","repo":"mentian/object-posenet","repo_kind":"official","path":"datasets/linemod/dataset.py","file_url":"https://github.com/mentian/object-posenet/blob/HEAD/datasets/linemod/dataset.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"a58ba2b376ee7937"}},{"code_sha256_prefix":"f7f6bfdeee237f86","entry":"reflection_matrix","repo":"mentian/object-posenet","repo_kind":"official","path":"lib/transformations.py","file_url":"https://github.com/mentian/object-posenet/blob/HEAD/lib/transformations.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"f7f6bfdeee237f86"}},{"code_sha256_prefix":"05c290474d8f5351","entry":"resnet18","repo":"mentian/object-posenet","repo_kind":"official","path":"lib/extractors.py","file_url":"https://github.com/mentian/object-posenet/blob/HEAD/lib/extractors.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"05c290474d8f5351"}},{"code_sha256_prefix":"55172193d5361242","entry":"resnet34","repo":"mentian/object-posenet","repo_kind":"official","path":"lib/extractors.py","file_url":"https://github.com/mentian/object-posenet/blob/HEAD/lib/extractors.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"55172193d5361242"}},{"code_sha256_prefix":"43d3dc41f78f6882","entry":"setup_logger","repo":"mentian/object-posenet","repo_kind":"official","path":"lib/utils.py","file_url":"https://github.com/mentian/object-posenet/blob/HEAD/lib/utils.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"43d3dc41f78f6882"}},{"code_sha256_prefix":"77cb383b0cd2a54e","entry":"translation_from_matrix","repo":"mentian/object-posenet","repo_kind":"official","path":"lib/transformations.py","file_url":"https://github.com/mentian/object-posenet/blob/HEAD/lib/transformations.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"77cb383b0cd2a54e"}},{"code_sha256_prefix":"edeb1406911ce025","entry":"translation_matrix","repo":"mentian/object-posenet","repo_kind":"official","path":"lib/transformations.py","file_url":"https://github.com/mentian/object-posenet/blob/HEAD/lib/transformations.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"edeb1406911ce025"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}