“…Instance-level 6D object pose estimation only estimates the 6D pose of a particular object can be divided into five parts: direct-methods [17,47,53], keypoint-based methods [29,34,37], dense coordinate-based methods [22,27,51], refinement based methods [21,25,48] and self-supervised methods [33,42]. There are also many methods propose to utilize RGBD data as input for instance-level object pose estimation [12,13,31,46].…”