6D object pose estimation



Estimation of 6D object pose is of great importance to many higher level tasks such as robotic manipulation (Amazon Picking Challenge), scene interpretation and augmented reality. The workshop will feature several high-quality invited talks, presentations of accepted papers, a panel discussion to identify open problems, and a challenge with the goal of establishing the state of the art in 6D object pose estimation from RGB or RGB-D images.

We invite submissions of 1) papers of unpublished work and 2) extended abstracts of preliminary or already published work. The papers will be peer-reviewed and, if accepted, published in the ICCV workshop proceedings (submission guidelines, submission system for papers, extended abstracts should be submitted to r6d.workshop@gmail.com). Accepted submissions will be presented as orals/posters/spotlights at the workshop. The covered topics include but are not limited to:

We invite submissions of results to the SIXD Challenge 2017. We have defined an evaluation protocol and identified a set of datasets which are provided in a unified format. The results will be announced during the workshop and the authors of the winning methods will be invited to present their approaches. A paper with an analysis of the collected results will be published after the workshop.

Previous workshop editions: 1st edition (ICCV 2015), 2nd edition (ECCV 2016)


08:30 - 08:40opening
08:40 - 09:10invited talk 1: Object Detection for Robotics, Stefan Hinterstoisser​ (Google X)
09:10 - 09:40invited talk 2: Geometry and Learning in 3D Correspondence Problems, Alex Bronstein (Technion, Intel, TAU)
09:40 - 10:15spotlight presentations of selected accepted papers (7 min each):
  1. Deep Learning of Convolutional Auto-encoder for Image Matching and 3D Object Reconstruction in the Infrared Range
    V. Knyaz, O. Vygolov, V. Kniaz, Y. Vizilter, V. Gorbatsevich, T. Luhmann, N. Conen
  2. Efficient and Accurate Registration of Point Clouds with Plane to Plane Correspondences
    K. Khoshelham, W. Foerstner
  3. 3D Pose Regression using Convolutional Neural Networks
    S. Mahendran, H. Ali, R. Vidal
  4. Propagation of Orientation Uncertainty of 3D Rigid Object to Its Points
    M. Franaszek, G. Cheok
  5. Mutual Hypothesis Verification for 6D Pose Estimation of Natural Objects
    K. Park, J. Prankl, M. Vincze
10:15 - 11:00coffee break
11:00 - 11:30invited talk 3: Tracking, Pose Estimation and Dancing Hot Dogs, Edward Rosten (Snap Inc.)
11:30 - 12:00invited talk 4: TBA, Abhinav Gupta (Carnegie Mellon University)
12:00 - 12:30announcement of SIXD challenge results, awards
12:30 - 14:00lunch break
14:00 - 15:00oral presentations of selected accepted papers (15 min each):
  1. Introducing MVTec ITODD - A Dataset for 3D Object Recognition in Industry
    B. Drost, M. Ulrich, P. Bergmann, P. Härtinger, C. Steger
  2. Symmetry Aware Evaluation of 3D Object Detection and Pose Estimation in Scenes of Many Parts in Bulk
    R. Brégier, F. Devernay, L. Leyrit, J. Crowley
  3. Combined Holistic and Local Patches for Recovering 6D Object Pose
    H. Zhang, Q. Cao
  4. Multi-view 6D Object Pose Estimation and Camera Motion Planning using RGBD Images
    J. Sock, S. Kasaei, L. Lopes, T.-K. Kim
15:00 - 15:45poster session (accepted papers, extended abstracts, invited posters)
15:45 - 16:30coffee break
16:30 - 17:00invited talk 5: TBA, Raquel Urtasun (Uber ATG, University of Toronto)
17:00 - 17:30invited talk 6: Lifting Object Detection Datasets into 3D, Lourdes Agapito (University College London)
17:30 - 18:00discussion, closing


Paper submission deadline: 1st Aug 8th Aug
Paper acceptance notification: 15th Aug 18th Aug
Camera-ready submission deadline: 24th Aug
Extended abstract submission deadline: 8th Oct
SIXD Challenge submission deadline: 1st Oct
Workshop date: 29th Oct


Krzysztof Walas, Poznan University of Technology, krzysztof.walas@put.poznan.pl
Tomáš Hodaň, Czech Technical University in Prague, hodantom@cmp.felk.cvut.cz
Tae-Kyun Kim, Imperial College London, tk.kim@imperial.ac.uk
Jiří Matas, Czech Technical University in Prague
Carsten Rother, Technical University Dresden
Frank Michel, Technical University Dresden
Vincent Lepetit, Technical University Graz
Ales Leonardis, University of Birmingham
Carsten Steger​, Technical University of Munich, MVTec
Caner Sahin, Imperial College London
Rigas Kouskouridas, Scape




Scape AR