# Explaining the Ambiguity of Object Detection and 6D Pose From Visual Data

Source: [Explaining the Ambiguity of Object Detection and 6D Pose From Visual Data](<https://www.sota2.com/research/paper/68fa66361e209131cea0ed15>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2025-10-25T21:44:30.600Z

Authors: Fabian Manhardt, Diego Martin Arroyo, Christian Rupprecht, Benjamin Busam, Tolga Birdal, Nassir Navab, Federico Tombari

Published: 2018-12-01T23:31:50.000Z

## Abstract

3D object detection and pose estimation from a single image are two inherently ambiguous problems. Oftentimes, objects appear similar from different viewpoints due to shape symmetries, occlusion and repetitive textures. This ambiguity in both detection and pose estimation means that an object instance can be perfectly described by several different poses and even classes. In this work we propose to explicitly deal with this uncertainty. For each object instance we predict multiple pose and class outcomes to estimate the specific pose distribution generated by symmetries and repetitive textures. The distribution collapses to a single outcome when the visual appearance uniquely identifies just one valid pose. We show the benefits of our approach which provides not only a better explanation for pose ambiguity, but also a higher accuracy in terms of pose estimation.

## Recorded benchmark results

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

## Original sources and implementation

[Original paper](<https://arxiv.org/abs/1812.00287>)

[PDF](<https://arxiv.org/pdf/1812.00287.pdf>)