6D Pose Estimation

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

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

Subtasks archive 2025-07-28

2 subtasks in the archive's task tree.

Parent tasks archive 2025-07-28

Most implemented papers archive 2025-07-28

30 shown of 118 papers with code (255 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.
• DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion
  15 Jan 2019 8 repositories listed Syntology ran 1 of 19 samples · 18 unverified
  A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources.
• 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…
• 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…
• 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.
• Robust 6DoF Pose Estimation Against Depth Noise and a Comprehensive Evaluation on a Mobile Dataset
  24 Sep 2023 3 repositories listed
  In this paper, we extensively investigate the robustness of existing RGBD-based 6DoF pose estimation methods against varying levels of depth sensor noise.
• 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.
• CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimation
  3 Mar 2022 3 repositories listed Syntology ran 0 of 6 samples · 6 unverified
  This paper studies the complex task of simultaneous multi-object 3D reconstruction, 6D pose and size estimation from a single-view RGB-D observation.
• FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimation
  3 Mar 2021 3 repositories listed Syntology ran 1 of 8 samples · 7 unverified
  Moreover, at the output representation stage, we designed a simple but effective 3D keypoints selection algorithm considering the texture and geometry information of objects, which simplifies keypoint localization for…
• 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…
• PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation
  11 Nov 2019 3 repositories listed Syntology ran 3 of 3 samples · 0 unverified
  Our method is a natural extension of 2D-keypoint approaches that successfully work on RGB based 6DoF estimation.
• 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.
• Vision6D: 3D-to-2D Interactive Visualization and Annotation Tool for 6D Pose Estimation
  21 Apr 2025 2 repositories listed
  A user study was performed to show that Vision6D generates accurate pose annotations via visual cues in an intuitive 3D user interface.
• ReFlow6D: Refraction-Guided Transparent Object 6D Pose Estimation via Intermediate Representation Learning
  30 Dec 2024 2 repositories listed
  To solve this, we present ReFlow6D, a novel method for transparent object 6D pose estimation that harnesses the refractive-intermediate representation.
• 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.
• ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimization
  27 Jul 2022 2 repositories listed Syntology ran 3 of 3 samples · 0 unverified · 3 pointer-only (licence)
  A novel disentangled shape and appearance database of priors is first learned to embed objects in their respective shape and appearance space.
• 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.
• 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.
• MarkerPose: Robust Real-time Planar Target Tracking for Accurate Stereo Pose Estimation
  2 May 2021 2 repositories listed
  In this work, we propose MarkerPose, a robust, real-time pose estimation system based on a planar target of three circles and a stereo vision system.
• 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…
• Sub-frame Appearance and 6D Pose Estimation of Fast Moving Objects
  25 Nov 2019 2 repositories listed Syntology ran 0 of 3 samples · 3 unverified · 3 pointer-only (licence)
  We propose a novel method that tracks fast moving objects, mainly non-uniform spherical, in full 6 degrees of freedom, estimating simultaneously their 3D motion trajectory, 3D pose and object appearance changes with a…
• 6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints
  23 Oct 2019 2 repositories listed Syntology ran 1 of 15 samples · 14 unverified
  We present 6-PACK, a deep learning approach to category-level 6D object pose tracking on RGB-D data.
• 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.

Syntology lines on 21 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.