Recovering 6D Object Pose Estimation

The development of RGB-D sensors, high GPU computing, and scalable machine learning algorithms have opened the door to a whole new range of technologies and applications which require detecting and estimating object poses in 3D environments for a variety of scenarios.Our program will feature several high-quality invited talks, poster presentations, and a panel discussion to identify key research questions and highlight future research directions. We invite submissions of papers and extended abstracts of ongoing or already published work. Accepted papers and extended abstracts will be presented as orals/posters/spotlights at the workshop, in areas including, but not limited to:
  • 3D object detection
  • Object detection in depth images
  • Joint registration of multiple 3D objects
  • 6 DoF object pose, under heavy occlusions and background clutters
  • Occlusion-aware segmentation
  • Bin-picking
  • 3D object tracking
  • Surface representation and fitting
  • Non-rigid (deformable or articulated) object registration
  • 3D object modelling
  • Multiple object instance detection
  • Object class (category) detection

We also invite authors to submit results to our challenges. Such results will be presented at the workshop and likely cited in later work.

Previous R6D Workshop: R6D2015

Important Dates

Paper Submission Deadline: 11 July

Notification of Acceptance: 1 Aug

Camera Ready: 8 Aug

Extended Abstract Submission Deadline: 8 Aug

Challenge Submission Deadline: 5 Sep

Workshop Date: 8, 9 or 16 Oct


R6D Workshop is part of the ECCV 2016 workshops.

Please see the ECCV webpage for details on venue, accomodations etc.


Our website is online


Papers / Extended Abstracts Submissions

We invite submissions of new papers and extended abstracts of already published work. Authors are given the opportunity to promote their work to an extended audience in all areas covered by the workshop. Accepted papers and abstracts will be presented as orals/posters/spotlights at the workshop.

Extended abstracts are limited to two pages. Authors are free to use any format available, e.g. the ECCV 2016 word or LaTex templates tar or zip.

All submissions will be handled electronically via the conference’s CMT Website.


Following the success and popularity of other challenges in object detection in 2D images, we want to establish a new challenge (comprised of 4 sub-challenges) in the area of 6 DoF object detection, which, to our knowledge, is the first of each kind. Each challenge will include and gradually be enriched with numerous test scenes and objects, including their 3D models. You can apply your method to our data and submit your results. We will evaluate submitted results according to multiple metrics and display the scores for comparison. For more information please visit the respective website of the individual challenge.

Imperial College London   TU Dresden   TU Graz & EPFL   Czech Tech. University   University of Birmingham

Keynote Speakers

Workshop Chairs

Tae-Kyun Kim, Imperial College London

Jiri Matas, Chech Technical University

Vincent Lepetit, Technical University Graz

Carsten Rother, Technical University Dresden

Ales Leonardis, University of Birmingham

Krzysztof Wallas, Poznan University of Technology

Carsten Steger, MVTec GmbH

Rigas Kouskouridas, Imperial College London

Challenge Chairs

Frank Michel, Technical University Dresden

Alexander Krull, Technical University Dresden

Andreas Doumanoglou, Imperial College London

Tomas Hodan, Chech Technical University

Alberto Crivellaro, EPFL

Technical Program Committee

Antonis Argyros, FORTH

Ujwal Bonde, Toshiba Research

Bertram Drost, MVTec GmbH

Hironobu Fujiyoshi, Chubu University

Stefan Hinterstoisser, Google

Edward Johns, Imperial College London

Yoshinori Konishi, Omron

Victor Lempitsky, Skoltech

Joseph J. Lim, Stanford

Justus Piater, University of Innsbruck

Colin Rennie, Rutgers University

Ulrike Thomas, Technical University of Chemnitz