6D Pose Estimation using RGBD

Description from the archive archive 2025-07-28.

Benchmarks archive 2025-07-28

8 leaderboard tables shown for this task, 8 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

9 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

27 shown of 27 papers with code (30 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…
• 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.
• 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…
• 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.
• 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.
• The CoSTAR Block Stacking Dataset: Learning with Workspace Constraints
  27 Oct 2018 3 repositories listed
  We show that a mild relaxation of the task and workspace constraints implicit in existing object grasping datasets can cause neural network based grasping algorithms to fail on even a simple block stacking task when…
• 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.
• 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.
• 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.
• Multi-view Self-supervised Deep Learning for 6D Pose Estimation in the Amazon Picking Challenge
  29 Sep 2016 2 repositories listed
  The approach was part of the MIT-Princeton Team system that took 3rd- and 4th- place in the stowing and picking tasks, respectively at APC 2016.
• Enhancing 6-DoF Object Pose Estimation through Multiple Modality Fusion: A Hybrid CNN Architecture with Cross-Layer and Cross-Modal Integration
  6 Sep 2023 1 repository listed
  To tackle this challenge, we proposed a pioneering two-stage hybrid Convolutional Neural Network (CNN) architecture, which connects segmentation and pose estimation in tandem.
• The Drunkard's Odometry: Estimating Camera Motion in Deforming Scenes
  29 Jun 2023 1 repository listed
  Estimating camera motion in deformable scenes poses a complex and open research challenge.
• BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects
  24 Mar 2023 1 repository listed
  We present a near real-time method for 6-DoF tracking of an unknown object from a monocular RGBD video sequence, while simultaneously performing neural 3D reconstruction of the object.
• Fusing Visual Appearance and Geometry for Multi-modality 6DoF Object Tracking
  22 Feb 2023 1 repository listed
  In this work, we develop a multi-modality tracker that fuses information from visual appearance and geometry to estimate object poses.
• Generative Category-Level Shape and Pose Estimation with Semantic Primitives
  3 Oct 2022 1 repository listed
  Then, by using a SIM(3)-invariant shape descriptor, we gracefully decouple the shape and pose of an object, thus supporting latent shape optimization of target objects in arbitrary poses.
• A Multi-body Tracking Framework -- From Rigid Objects to Kinematic Structures
  2 Aug 2022 1 repository listed
  Our approach focuses on methods that employ Newton-like optimization techniques, which are widely used in object tracking.
• Iterative Corresponding Geometry: Fusing Region and Depth for Highly Efficient 3D Tracking of Textureless Objects
  10 Mar 2022 1 repository listed
  Tracking objects in 3D space and predicting their 6DoF pose is an essential task in computer vision.
• CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wild
  7 Mar 2022 1 repository listed Syntology ran 1 of 2 samples · 1 unverified
  Drawing inspirations from traditional point pair features (PPFs), in this paper, we design a novel Category-level PPF (CPPF) voting method to achieve accurate, robust and generalizable 9D pose estimation in the wild.
• BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models
  1 Aug 2021 1 repository listed
  Most prior efforts, however, often assume that the target object's CAD model, at least at a category-level, is available for offline training or during online template matching.
• Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Voting
  6 Apr 2021 1 repository listed
  We propose a novel keypoint voting scheme based on intersecting spheres, that is more accurate than existing schemes and allows for fewer, more disperse keypoints.
• DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistency
  11 Mar 2021 1 repository listed
  DualPoseNet stacks two parallel pose decoders on top of a shared pose encoder, where the implicit decoder predicts object poses with a working mechanism different from that of the explicit one; they thus impose…
• EPOS: Estimating 6D Pose of Objects with Symmetries
  1 Apr 2020 1 repository listed
  A data-dependent number of corresponding 3D locations is selected per pixel, and poses of possibly multiple object instances are estimated using a robust and efficient variant of the PnP-RANSAC algorithm.
• Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands
  7 Mar 2020 1 repository listed
  The hand's point cloud is pruned and robust global registration is performed to generate object pose hypotheses, which are clustered.
• MaskedFusion: Mask-based 6D Object Pose Estimation
  18 Nov 2019 1 repository listed
  MaskedFusion is a framework to estimate the 6D pose of objects using RGB-D data, with an architecture that leverages multiple sub-tasks in a pipeline to achieve accurate 6D poses.
• BOP: Benchmark for 6D Object Pose Estimation
  24 Aug 2018 1 repository listed
  We propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image.

Syntology lines on 10 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.