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arXiv · 2604.20650

MAPRPose: Mask-Aware Proposal and Amodal Refinement for Multi-Object 6D Pose Estimation

Yang Luo·Yan Gong·Yongsheng Gao·Xiaoying Sun·Jie Zhao
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Abstract

6D object pose estimation in cluttered scenes remains challenging due to severe occlusion and sensor noise. We propose MAPRPose, a two-stage framework that leverages mask-aware correspondences for pose proposal and amodal-driven Region-of-Interest (ROI) prediction for robust refinement. In the Mask-Aware Pose Proposal (MAPP) stage, we lift 2D correspondences into 3D space to establish reliable keypoint matches and generate geometrically consistent pose hypotheses based on correspondence-level scoring, from which the top-$K$ candidates are selected. In the refinement stage, we introduce a tensorized render-and-compare pipeline integrated with an Amodal Mask Prediction and ROI Re-Alignment (AMPR) module. By reconstructing complete object geometry and dynamically adjusting the ROI, AMPR mitigates localization errors and spatial misalignment under heavy occlusion. Furthermore, our GPU-accelerated RGB-XYZ reprojection enables simultaneous refinement of all $N \times B$ pose hypotheses in a single forward pass.

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Yang Luo, Yan Gong, Yongsheng Gao, Xiaoying Sun, Jie Zhao. 2026-04-22. MAPRPose: Mask-Aware Proposal and Amodal Refinement for Multi-Object 6D Pose Estimation. https://arxiv.org/abs/2604.20650

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