6D Pose Estimation using RGB

Description from the archive archive 2025-07-28.

Benchmarks archive 2025-07-28

6 leaderboard tables shown for this task, 6 with rows (a “benchmark” on this site is a table with at least one row, as on /sota), ordered by row count. “Best model” is the first row in the archive's own order at snapshot; nothing is re-ranked here and metric direction is not recorded in the archive. PwC's Trend sparklines are not in the archive, so that column is omitted.

Syntology column: samples harvested from the paper's repositories and executed on synthesized fixtures; “ran” is not a correctness claim and does not order the table. A dash means no Syntology record for that paper, not a recorded non-run. Read from the graph 2026-09-24.

Libraries

Not in the archive: the export carries no per-task library table, so there is nothing to show at snapshot 2025-07-28.

Datasets archive 2025-07-28

7 datasets whose archive record lists this task, ordered by the archive's paper count.

Subtasks archive 2025-07-28

No subtask under this task in the archive's task tree.

Parent tasks archive 2025-07-28

Most implemented papers archive 2025-07-28

30 shown of 94 papers with code (233 tagged with this task in all), ordered by repositories listed in the archive, not by stars (the archive holds no stars, so PwC's “Social” and “Latest” sorts cannot be reproduced). Papers without a page here are shown as plain text.

• PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes
  1 Nov 2017 12 repositories listed Syntology ran 0 of 1 samples · 1 unverified · 1 pointer-only (licence)
  We conduct extensive experiments on our YCB-Video dataset and the OccludedLINEMOD dataset to show that PoseCNN is highly robust to occlusions, can handle symmetric objects, and provide accurate pose estimation using…
• Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation
  9 Jan 2019 10 repositories listed Syntology ran 4 of 20 samples · 16 unverified
  The goal of this paper is to estimate the 6D pose and dimensions of unseen object instances in an RGB-D image.
• Estimating 6D Pose From Localizing Designated Surface Keypoints
  4 Dec 2018 6 repositories listed Syntology ran 0 of 7 samples · 7 unverified
  In this paper, we present an accurate yet effective solution for 6D pose estimation from an RGB image.
• BOP Challenge 2020 on 6D Object Localization
  15 Sep 2020 5 repositories listed Syntology ran 4 of 30 samples · 26 unverified
  This paper presents the evaluation methodology, datasets, and results of the BOP Challenge 2020, the third in a series of public competitions organized with the goal to capture the status quo in the field of 6D object…
• PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation
  31 Dec 2018 5 repositories listed Syntology ran 2 of 11 samples · 9 unverified
  We further create a Truncation LINEMOD dataset to validate the robustness of our approach against truncation.
• Segmentation-driven 6D Object Pose Estimation
  6 Dec 2018 5 repositories listed Syntology ran 0 of 8 samples · 8 unverified
  The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can…
• Real-Time Seamless Single Shot 6D Object Pose Prediction
  24 Nov 2017 5 repositories listed
  For single object and multiple object pose estimation on the LINEMOD and OCCLUSION datasets, our approach substantially outperforms other recent CNN-based approaches when they are all used without post-processing.
• CosyPose: Consistent multi-view multi-object 6D pose estimation
  19 Aug 2020 4 repositories listed Syntology ran 3 of 13 samples · 10 unverified
  Second, we develop a robust method for matching individual 6D object pose hypotheses across different input images in order to jointly estimate camera viewpoints and 6D poses of all objects in a single consistent scene.
• GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Voting
  15 Mar 2022 3 repositories listed Syntology ran 0 of 9 samples · 9 unverified
  While 6D object pose estimation has recently made a huge leap forward, most methods can still only handle a single or a handful of different objects, which limits their applications.
• EfficientPose: An efficient, accurate and scalable end-to-end 6D multi object pose estimation approach
  9 Nov 2020 3 repositories listed
  Through the inherent handling of multiple objects and instances and the fused single shot 2D object detection as well as 6D pose estimation, our approach runs even with multiple objects (eight) end-to-end at over 26…
• HybridPose: 6D Object Pose Estimation under Hybrid Representations
  7 Jan 2020 3 repositories listed Syntology ran 5 of 5 samples · 0 unverified · 2 pointer-only (licence)
  Compared to a unitary representation, our hybrid representation allows pose regression to exploit more and diverse features when one type of predicted representation is inaccurate (e.
• Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimation
  20 Aug 2019 3 repositories listed Syntology ran 0 of 8 samples · 8 unverified
  Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries.
• PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimation
  29 Nov 2017 3 repositories listed
  We present PointFusion, a generic 3D object detection method that leverages both image and 3D point cloud information.
• Real-time Holistic Robot Pose Estimation with Unknown States
  8 Feb 2024 2 repositories listed Syntology ran 4 of 7 samples · 3 unverified · 7 pointer-only (licence)
  Estimating robot pose from RGB images is a crucial problem in computer vision and robotics.
• EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for Monocular Object Pose Estimation
  22 Mar 2023 2 repositories listed Syntology ran 1 of 8 samples · 7 unverified · 7 pointer-only (licence)
  In this paper, we propose the EPro-PnP, a probabilistic PnP layer for general end-to-end pose estimation, which outputs a distribution of pose with differentiable probability density on the SE(3) manifold.
• Rigidity-Aware Detection for 6D Object Pose Estimation
  22 Mar 2023 2 repositories listed Syntology ran 2 of 9 samples · 7 unverified
  To address this, we propose a rigidity-aware detection method exploiting the fact that, in 6D pose estimation, the target objects are rigid.
• Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusions
  31 Mar 2022 2 repositories listed
  It relies on a small set of training objects to learn local object representations, which allow us to locally match the input image to a set of "templates", rendered images of the CAD models for the new objects.
• ROFT: Real-Time Optical Flow-Aided 6D Object Pose and Velocity Tracking
  6 Nov 2021 2 repositories listed
  In this work, we introduce ROFT, a Kalman filtering approach for 6D object pose and velocity tracking from a stream of RGB-D images.
• SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimation
  18 Aug 2021 2 repositories listed Syntology ran 0 of 16 samples · 16 unverified
  Directly regressing all 6 degrees-of-freedom (6DoF) for the object pose (e.
• DexYCB: A Benchmark for Capturing Hand Grasping of Objects
  9 Apr 2021 2 repositories listed
  We introduce DexYCB, a new dataset for capturing hand grasping of objects.
• Wide-Depth-Range 6D Object Pose Estimation in Space
  1 Apr 2021 2 repositories listed
  6D pose estimation in space poses unique challenges that are not commonly encountered in the terrestrial setting.
• FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanism
  12 Mar 2021 2 repositories listed Syntology ran 7 of 8 samples · 1 unverified
  In this paper, we focus on category-level 6D pose and size estimation from monocular RGB-D image.
• GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimator
  24 Feb 2021 2 repositories listed
  In this work, we first perform an in-depth investigation of both direct and indirect methods and propose a simple yet effective Geometry-guided Direct Regression Network (GDRN) to learn the 6D pose from monocular images…
• End-to-End Learnable Geometric Vision by Backpropagating PnP Optimization
  13 Sep 2019 2 repositories listed Syntology ran 0 of 2 samples · 2 unverified
  To seamlessly combine deep learning and geometric vision, it is vital to perform learning and geometric optimization end-to-end.
• DPOD: 6D Pose Object Detector and Refiner
  28 Feb 2019 2 repositories listed Syntology ran 1 of 8 samples · 7 unverified
  An additional RGB pose refinement of the initial pose estimates is performed using a custom deep learning-based refinement scheme.
• SilhoNet: An RGB Method for 6D Object Pose Estimation
  18 Sep 2018 2 repositories listed
  Autonomous robot manipulation involves estimating the translation and orientation of the object to be manipulated as a 6-degree-of-freedom (6D) pose.
• DeepIM: Deep Iterative Matching for 6D Pose Estimation
  31 Mar 2018 2 repositories listed Syntology ran 0 of 2 samples · 2 unverified
  Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality.
• BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depth
  31 Mar 2017 2 repositories listed
  We introduce a novel method for 3D object detection and pose estimation from color images only.
• T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objects
  19 Jan 2017 2 repositories listed
  There are approximately 39K training and 10K test images from each sensor.
• SenseShift6D: Multimodal RGB-D Benchmarking for Robust 6D Pose Estimation across Environment and Sensor Variations
  8 Jul 2025 1 repository listed
  Recent advances on 6D object-pose estimation has achieved high performance on representative benchmarks such as LM-O, YCB-V, and T-Less.

Syntology lines on 18 of the papers shown; no Syntology record for the others (a paper without an arXiv id cannot be joined to the graph, and absence from the graph layer is not a recorded non-run). “Ran” means the sample executed on a synthesized fixture, not that the paper's result was reproduced. Read from the graph 2026-09-24.