Precise 6D pose estimation of rigid objects from RGB images is a critical but challenging task in robotics and augmented reality. To address this problem, we propose DeepRM, a novel recurrent network architecture for 6D pose refinement. DeepRM leverages initial coarse pose estimates to render synthetic images of target objects. The rendered images are then matched with the observed images to predict a rigid transform for updating the previous pose estimate. This process is repeated to incrementally refine the estimate at each iteration. LSTM units are used to propagate information through each refinement step, significantly improving overall performance. In contrast to many 2-stage Perspective-n-Point based solutions, DeepRM is trained end-to-end, and uses a scalable backbone that can be tuned via a single parameter for accuracy and efficiency. During training, a multi-scale optical flow head is added to predict the optical flow between the observed and synthetic images. Optical flow prediction stabilizes the training process, and enforces the learning of features that are relevant to the task of pose estimation. Our results demonstrate that DeepRM achieves state-of-the-art performance on two widely accepted challenging datasets.

Library of Congress Subject Headings

Deep learning (Machine learning); Computer vision; Gesture recognition (Computer science); Neural networks (Computer science)

Publication Date


Document Type


Student Type


Degree Name

Computer Engineering (MS)

Department, Program, or Center

Computer Engineering (KGCOE)


Andreas Savakis

Advisor/Committee Member

Dongfang Liu

Advisor/Committee Member

Clark Hochgraf


RIT – Main Campus

Plan Codes