Awesome work on object 6 DoF pose estimation

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

Single-Stage Keypoint-based Category-level Object Pose Estimation from an RGB Image (ICRA 2022)

[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

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

Real-time robotic object pose estimation with deep learning

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

SurfEmb (CVPR 2022)

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

SLAM-Supported Semi-Supervised Learning for 6D Object Pose Estimation

🚀 A neural network for monocular spacecraft 6D pose estimation: 3rd place solution of the European Space Agency’s pose estimation challenge

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

moai is a PyTorch-based AI Model Development Kit (MDK) created to improve data-driven model workflows, design and reproducibility.

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

The official repository of the paper "RacketVision: A Multiple Racket Sports Benchmark for Unified Ball and Racket Analysis"

This project presents a hybrid vision-based bin-picking system for collaborative robots. It combines deep learning (YOLOv5) for coarse object detection and classical computer vision algorithms (FAST + BRISK) for precise pose estimation. The system is implemented using the ROS and a low-cost Intel RealSense D435i depth camera.

[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)

[ICRA'25] Code for "MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Model".

Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation (ICRA 2023)

Instance Segmentation Aided 6D Object Pose and Velocity Tracking using an Unscented Kalman Filter

A single-shot learning-based approach to hand and object pose estimation, made available on a head-mounted display.

Toolbox to evaluate categorical pose and shape estimation methods

Code for DronePose: Photorealistic UAV-Assistant Dataset Synthesis for 3D Pose Estimation via a Smooth Silhouette Loss (ECCVW 2020)

Dobot CR5 with Intel Realsense D435i for object detection and pose estimation (bin-picking application).

This is the official repo for the implementation of Free-Moving Object Reconstruction and Pose Estimation with Virtual Camera(AAAI 2025).

A compact Python package for handling ArUCo markers.

[MICCAI2023 Oral] POV-Surgery: A Dataset for Egocentric Hand and Tool Pose Estimation During Surgical Activities

SHOWMe: Benchmarking Object-agnostic Hand-Object 3D Reconstruction (Dataset, Contains proposed top baseline reconstructions with estimated camera poses)