# CullNet: Calibrated and Pose Aware Confidence Scores for Object Pose Estimation

Source: [CullNet: Calibrated and Pose Aware Confidence Scores for Object Pose Estimation](<https://www.sota2.com/research/paper/68fa667b1e209131cea107c3>)

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

Data updated: 2026-01-04T03:11:40.061Z

Authors: Kartik Gupta, Lars Petersson, Richard Hartley

Published: 2019-09-30T06:39:05.000Z

## Abstract

We present a new approach for a single view, image-based object pose estimation. Specifically, the problem of culling false positives among several pose proposal estimates is addressed in this paper. Our proposed approach targets the problem of inaccurate confidence values predicted by CNNs which is used by many current methods to choose a final object pose prediction. We present a network called CullNet, solving this task. CullNet takes pairs of pose masks rendered from a 3D model and cropped regions in the original image as input. This is then used to calibrate the confidence scores of the pose proposals. This new set of confidence scores is found to be significantly more reliable for accurate object pose estimation as shown by our results. Our experimental results on multiple challenging datasets (LINEMOD and Occlusion LINEMOD) reflects the utility of our proposed method. Our overall pose estimation pipeline outperforms state-of-the-art object pose estimation methods on these standard object pose estimation datasets. Our code is publicly available on https://github.com/kartikgupta-at-anu/CullNet.

## 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.

- [6D Pose Estimation on LINEMOD 5 (test)](<https://www.sota2.com/research/sota/6d-pose-estimation-on-linemod-5-test.md>): 6D Pose Estimation; LINEMOD 5 (test); Avg Acc: 97.7.

- [6D Object Pose Estimation on OccludedLINEMOD (test)](<https://www.sota2.com/research/sota/6d-object-pose-estimation-on-occludedlinemod-test.md>): 6D Object Pose Estimation; OccludedLINEMOD (test); ADD(S): not recorded.

## Original sources and implementation

[Original paper](<https://arxiv.org/abs/1909.13476>)

[PDF](<https://arxiv.org/pdf/1909.13476.pdf>)