In this paper we present a novel deep learning method for 3D object detection and 6D pose estimation from RGB images. Our method, named DPOD (Dense Pose Object Detector), estimates dense multi-class 2D-3D correspondence maps between an input image and available 3D models. Given the correspondences, a 6DoF pose is computed via PnP and RANSAC. An additional RGB pose refinement of the initial pose estimates is performed using a custom deep learning-based refinement scheme. Our results and comparison to a vast number of related works demonstrate that a large number of correspondences is beneficial for obtaining high-quality 6D poses both before and after refinement. Unlike other methods that mainly use real data for training and do not train on synthetic renderings, we perform evaluation on both synthetic and real training data demonstrating superior results before and after refinement when compared to all recent detectors. While being precise, the presented approach is still real-time capable. Recent deep learning-based approaches, such as SSD6D [15], YOLO6D [33], AAE [31], PoseCNN [34] and PVNet [25], are the current top performers for this task in RGB images. Even though they all perform evaluation on LineMOD and OCCLUSION datasets, each of them focuses on different aspects of the 6D pose estimation pipeline. The majority is trained on real data [33, 34, 25, 14] while only SSD6D [15] and AAE [31] are trained on syn-

Among the most important prerequisites for creating and evaluating 6D object pose detectors are datasets with labeled 6D poses. With the advent of deep learning, demand for such datasets is growing continuously. Despite the fact that some of exist, they are scarce and typically have restricted setups, such as a single object per sequence, or they focus on specific object types, such as textureless industrial parts. Besides, two significant components are often ignored: training using only available 3D models instead of real data and scalability, i.e. training one method to detect all objects rather than training one detector per object. Other challenges, such as occlusions, changing light conditions and changes in object appearance, as well precisely defined benchmarks are either not present or are scattered among different datasets.In this paper we present a dataset for 6D pose estimation that covers the above-mentioned challenges, mainly targeting training from 3D models (both textured and textureless), scalability, occlusions, and changes in light conditions and object appearance. The dataset features 33 objects (17 toy, 8 household and 8 industry-relevant objects) over 13 scenes of various difficulty. We also present a set of benchmarks to test various desired detector properties, particularly focusing on scalability with respect to the number of objects and resistance to changing light conditions, occlusions and clutter. We also set a baseline for the presented benchmarks using a state-of-the-art DPOD detector. Considering the difficulty of making such datasets, we plan to release the code allowing other researchers to extend this dataset or make their own datasets in the future.

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