{"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/shape-prior-deformation-for-categorical-6d","title":"Shape Prior Deformation for Categorical 6D Object Pose and Size Estimation","arxiv_id":"2007.08454","date":"2020-07-16","proceeding":"ECCV 2020 8","authors":["Meng Tian","Marcelo H. Ang Jr","Gim Hee Lee"],"abstract":"We present a novel learning approach to recover the 6D poses and sizes of unseen object instances from an RGB-D image. To handle the intra-class shape variation, we propose a deep network to reconstruct the 3D object model by explicitly modeling the deformation from a pre-learned categorical shape prior. Additionally, our network infers the dense correspondences between the depth observation of the object instance and the reconstructed 3D model to jointly estimate the 6D object pose and size. We design an autoencoder that trains on a collection of object models and compute the mean latent embedding for each category to learn the categorical shape priors. Extensive experiments on both synthetic and real-world datasets demonstrate that our approach significantly outperforms the state of the art. Our code is available at https://github.com/mentian/object-deformnet.","url_abs":"https://arxiv.org/abs/2007.08454v1","url_pdf":"https://arxiv.org/pdf/2007.08454v1.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":"shape-prior-deformation-for-categorical-6d","repo_url":"https://github.com/mentian/object-deformnet","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"shape-prior-deformation-for-categorical-6d","repo_url":"https://github.com/gritYCDA/shape_deform","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"object","task_name":"Object"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2007.08454","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2007.08454"}},"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-deformnet","reach":{"status":"ok","spdx":"MIT"}},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/gritYCDA/shape_deform","reach":{"status":"ok","spdx":"MIT"}}],"summary":{"ran":6,"unverified":2},"by_repo_kind":{"official":{"samples":5,"ran":3,"repositories":1},"listed":{"samples":3,"ran":3,"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":"a3fc43aa1154384a","entry":"conv3x3","repo":"gritYCDA/shape_deform","repo_kind":"listed","path":"lib/pspnet.py","file_url":"https://github.com/gritYCDA/shape_deform/blob/HEAD/lib/pspnet.py","link_basis":"plan_row","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":"a3fc43aa1154384a"}},{"code_sha256_prefix":"7065cc05bc9b5e3f","entry":"estimateSimilarityTransform","repo":"gritYCDA/shape_deform","repo_kind":"listed","path":"lib/align.py","file_url":"https://github.com/gritYCDA/shape_deform/blob/HEAD/lib/align.py","link_basis":"plan_row","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":"7065cc05bc9b5e3f"}},{"code_sha256_prefix":"88e63c6b872d1923","entry":"estimateSimilarityUmeyama","repo":"gritYCDA/shape_deform","repo_kind":"listed","path":"lib/align.py","file_url":"https://github.com/gritYCDA/shape_deform/blob/HEAD/lib/align.py","link_basis":"plan_row","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"88e63c6b872d1923"}},{"code_sha256_prefix":"1f5e0fafdbfd5166","entry":"load_obj","repo":"mentian/object-deformnet","repo_kind":"official","path":"lib/utils.py","file_url":"https://github.com/mentian/object-deformnet/blob/HEAD/lib/utils.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":"1f5e0fafdbfd5166"}},{"code_sha256_prefix":"c21f8ac3fafbb5e2","entry":"random_point","repo":"mentian/object-deformnet","repo_kind":"official","path":"lib/utils.py","file_url":"https://github.com/mentian/object-deformnet/blob/HEAD/lib/utils.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"c21f8ac3fafbb5e2"}},{"code_sha256_prefix":"8c1b06b5e547f722","entry":"setup_logger","repo":"mentian/object-deformnet","repo_kind":"official","path":"lib/utils.py","file_url":"https://github.com/mentian/object-deformnet/blob/HEAD/lib/utils.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":"8c1b06b5e547f722"}},{"code_sha256_prefix":"175a12292e74a5a4","entry":"backproject","repo":"mentian/object-deformnet","repo_kind":"official","path":"lib/align.py","file_url":"https://github.com/mentian/object-deformnet/blob/HEAD/lib/align.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":"175a12292e74a5a4"}},{"code_sha256_prefix":"965fc9f134ceab2a","entry":"process_data","repo":"mentian/object-deformnet","repo_kind":"official","path":"preprocess/pose_data.py","file_url":"https://github.com/mentian/object-deformnet/blob/HEAD/preprocess/pose_data.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":"965fc9f134ceab2a"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}