6D object pose estimation



Accurate estimation of the 6D pose of an object (3D translation and 3D rotation) is of great importance to many higher level tasks such as robotic manipulation, augmented reality and autonomous driving.

The introduction of consumer and industrial grade RGB-D sensors and the advent of deep learning have allowed for substantial improvement in 6D object pose estimation. However, there still remain challenges to be addressed such as robustness against occlusion and clutter, scalability to multiple objects, effective synthesis of training data, and fast and reliable object modelling, including capturing of reflectance properties. Extending contemporary methods to work reliably and with sufficient execution speed in an industrial setting is still an open problem. Many recent methods focus on specific rigid objects, but pose estimation of deformable or articulated objects and of object categories is also an important research direction.

In this workshop, people working on relevant topics in both academia and industry will share up-to-date advances and identify open problems. The workshop will feature several high-quality invited talks, presentations of accepted workshop papers and a challenge on 6D object pose estimation from RGB/RGB-D images.

Previous workshop editions: 1st edition (ICCV 2015), 2nd edition (ECCV 2016), 3rd edition (ICCV 2017), 4th edition (ECCV 2018).

A Summary of the 4th International Workshop on Recovering 6D Object Pose.

Workshop Papers

We invite submissions of 1) papers of unpublished work and 2) extended abstracts of preliminary or already published work. The papers can be long (14 pages excluding references) or short (6 pages excluding references) and will be peer-reviewed. If accepted, the papers will be published in the ICCV workshop proceedings and presented as orals or posters at the workshop. Accepted extended abstracts will be presented as posters. General submission guidelines can be found here. Papers should be submitted to the CMT system (will be set up soon) and extended abstracts by e-mail to r6d.workshop@gmail.com.

The covered topics include but are not limited to:

BOP Challenge 2019

We invite submissions to the BOP Challenge 2019.

The challenge will be announced soon, please stay tuned!


13:10invited talk 1: TBD
13:40invited talk 2: TBD
14:10oral presentations of selected workshop papers (each is 7 min + 1 min for questions)
14:50coffee break
15:20invited talk 3: TBD
15:50invited talk 4:TBD
16:20Results of the BOP Challenge 2019, Tomáš Hodaň (CTU in Prague)
16:40discussion, closing
17:00poster session (accepted papers, extended abstracts, invited posters)


Paper submission deadline: August 2, 2019 (11:59PM PST)
Paper acceptance notification: August 23, 2019
Camera-ready submission deadline: August 30, 2019 (11:59PM PST)
Extended abstract submission deadline: October 21, 2019
Workshop date: October 28, 2019


Tomáš Hodaň, Czech Technical University in Prague, hodantom@cmp.felk.cvut.cz
Rigas Kouskouridas, Scape Technologies, rigas@scape.io
Tae-Kyun Kim, Imperial College London
Jiří Matas, Czech Technical University in Prague
Carsten Rother, Heidelberg University
Vincent Lepetit, Technical University Graz
Ales Leonardis, University of Birmingham
Krzysztof Walas, Poznan University of Technology
Carsten Steger​, Technical University of Munich, MVTec
Eric Brachmann, Heidelberg University
Bertram Drost, MVTec
Juil Sock, Imperial College London