A comprehensive list of Implicit Representations and NeRF papers relating to Robotics/RL domain, including papers, codes, and related websites

A lightweight tool for labeling 3D bounding boxes in point clouds.

[ECCV2022] Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Images

[IROS 2021] BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models

[IROS 2020] se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains

[IJCV 2026] Project Page for "Deep Learning-Based Object Pose Estimation: A Comprehensive Survey".

[CVPR2021 Oral] FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimation.

GDR-Net: Geometry-Guided Direct Regression Network for Monocular 6D Object Pose Estimation. (CVPR 2021)

Recent papers about generalizable 6DoF object pose estimation.

Pytorch code for ICRA'22 paper: "Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimation"

[ICCV 2023 R6D] PyTorch implementation of CNOS: A Strong Baseline for CAD-based Novel Object Segmentation based on Segmenting Anything and DINOv2

[CVPR 2024] PyTorch implementation of GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondence

Real-Time 6D Pose Tracker in High-Dynamic Scenes

[CVPR 2022] Pytorch implementation of "Templates for 3D Object Pose Estimation Revisited: Generalization to New objects and Robustness to Occlusions" paper

6DoF Pose Estimation using Neural Radiance Fields

Self6D++: Occlusion-Aware Self-Supervised Monocular 6D Object Pose Estimation. IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2024.

DPOD: 6D Pose Estimator

Self-Supervised Geometric Correspondence for Category-Level 6D Object Pose Estimation in the Wild, ICLR 2023

The official training code of ICCV2019 paper "CDPN: Coordinates-based Disentangled Pose Network for Real-time RGB-based 6-DoF Object Pose Estimation".

SurfEmb (CVPR 2022)

EPOS: Estimating 6D Pose of Objects with Symmetries, CVPR 2020

Shape-Constraint Recurrent Flow for 6D Object Pose Estimation (CVPR 2023)

[TII 2023] Code for "Robotic Continuous Grasping System by Shape Transformer-Guided Multi-Object Category-Level 6D Pose Estimation".

Official PyTorch implementation of ICCV 2019 paper "DPOD: 6D Pose Object Detector and Refiner"

[TPAMI 2025] Code for "Diff9D: Diffusion-Based Domain-Generalized Category-Level 9DoF Object Pose Estimation".

Code for "Novel Object 6D Pose Estimation with a Single Reference View".

[ICCV'25 Highlight] HccePose (BF): Predicting Front & Back Surfaces to Construct Ultra-Dense 2D-3D Correspondences for Pose Estimation

Rigidity-Aware Detection for 6D Object Pose Estimation (CVPR 2023)

[CVPR 2024] Confronting Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)

CASAPose: Class-Adaptive and Semantic-Aware Multi-Object Pose Estimation (BMVC 2022)