SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddings

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


We present an approach to learn dense, continuous 2D-3D correspondence distributions over the surface of objects from data with no prior knowledge of visual ambiguities like symmetry. We also present a new method for 6D pose estimation of rigid objects using the learnt distributions to sample, score and refine pose hypotheses. The correspondence distributions are learnt with a contrastive loss, represented in object-specific latent spaces by an encoder-decoder query model and a small fully connected key model. Our method is unsupervised with respect to visual ambiguities, yet we show that the query- and key models learn to represent accurate multi-modal surface distributions. Our pose estimation method improves the state-of-the-art significantly on the comprehensive BOP Challenge, trained purely on synthetic data, even compared with methods trained on real data. The project site is at

Original languageEnglish
Title of host publication2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
Number of pages10
Publication date2022
ISBN (Electronic)978-1-6654-6946-3
Publication statusPublished - 2022
Event2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) - New Orleans, United States
Duration: 18. Jun 202224. Jun 2022


Conference2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
Country/TerritoryUnited States
CityNew Orleans
SeriesIEEE Conference on Computer Vision and Pattern Recognition. Proceedings

Bibliographical note

Publisher Copyright:
© 2022 IEEE.


  • Machine learning
  • Pose estimation and tracking
  • Representation learning

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