Papers › SSD-6D: Making RGB-based 3D detection and 6D pose estimation great again
SSD-6D: Making RGB-based 3D detection and 6D pose estimation great again
Wadim Kehl, Fabian Manhardt, Federico Tombari, Slobodan Ilic, Nassir Navab
We present a novel method for detecting 3D model instances and estimating their 6D poses from RGB data in a single shot. To this end, we extend the popular SSD paradigm to cover the full 6D pose space and train on synthetic model data only. Our approach competes or surpasses current state-of-the-art methods that leverage RGB-D data on multiple challenging datasets. Furthermore, our method produces these results at around 10Hz, which is many times faster than the related methods. For the sake of reproducibility, we make our trained networks and detection code publicly available.
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Code
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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 | SSD-6D | Mean ADD | 76.3 | #16 of 22 | Archive leaderboard | report |
| 6D Pose Estimation using RGB | LineMOD | SSD-6D | Mean IoU | 99.4 | #16 of 22 | Archive leaderboard | report |
| 6D Pose Estimation using RGB | OCCLUSION | SSD-6D | MAP | 0.38 | #2 of 2 | Archive leaderboard | report |
| 6D Pose Estimation using RGBD | LineMOD | SSD-6D | Mean ADD | 90.9 | #6 of 8 | Archive leaderboard | report |
| 6D Pose Estimation using RGBD | LineMOD | SSD-6D | Mean IoU | 96.5 | #6 of 8 | Archive leaderboard | report |
| 6D Pose Estimation using RGBD | Tejani | SSD-6D | IoU-2D | 0.988 | #1 of 1 | Archive leaderboard | report |
| 6D Pose Estimation using RGBD | Tejani | SSD-6D | IoU-3D | 0.963 | #1 of 1 | Archive leaderboard | report |
| 6D Pose Estimation using RGBD | Tejani | SSD-6D | VSS-2D | 0.724 | #1 of 1 | Archive leaderboard | report |
| 6D Pose Estimation using RGBD | Tejani | SSD-6D | VSS-3D | 0.854 | #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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