University of Oulu

D. Cai, J. Heikkilä and E. Rahtu, "SC6D: Symmetry-agnostic and Correspondence-free 6D Object Pose Estimation," 2022 International Conference on 3D Vision (3DV), Prague, Czech Republic, 2022, pp. 536-546, doi: 10.1109/3DV57658.2022.00065.

SC6D : symmetry-agnostic and correspondence-free 6D object pose estimation

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Author: Cai, Dingding1; Heikkilä, Janne2; Rahtu, Esa1
Organizations: 1Tampere University
2University of Oulu
Format: article
Version: accepted version
Access: open
Online Access: PDF Full Text (PDF, 16.5 MB)
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Language: English
Published: Institute of Electrical and Electronics Engineers, 2022
Publish Date: 2023-04-11


This paper presents an efficient symmetry-agnostic and correspondence-free framework, referred to as SC6D, for 6D object pose estimation from a single monocular RGB image. SC6D requires neither the 3D CAD model of the object nor any prior knowledge of the symmetries. The pose estimation is decomposed into three sub-tasks: a) object 3D rotation representation learning and matching; b) estimation of the 2D location of the object center; and c) scale-invariant distance estimation (the translation along the z-axis) via classification. SC6D is evaluated on three benchmark datasets, T-LESS, YCB-V, and ITODD, and results in state-of-the-art performance on the T-LESS dataset. More-over, SC6D is computationally much more efficient than the previous state-of-the-art method SurfEmb. The implementation and pre-trained models are publicly available at

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Series: International Conference on 3D Vision proceedings
ISSN: 2378-3826
ISSN-E: 2475-7888
ISSN-L: 2378-3826
ISBN: 978-1-6654-5670-8
ISBN Print: 978-1-6654-5671-5
Pages: 536 - 546
DOI: 10.1109/3DV57658.2022.00065
Host publication: 2022 International Conference on 3D Vision (3DV)
Conference: International Conference on 3D Vision
Type of Publication: A4 Article in conference proceedings
Field of Science: 113 Computer and information sciences
Funding: This work was supported by the Academy of Finland under the project #327910.
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