Gu Wang (王谷)

wangg12 at tsinghua dot org dot cn

Google Scholar / ORCID / Semantic Scholar / Aminer / Research Gate / GitHub

About Me

I received my B.E. degree in 2016 and Ph.D. degree in 2022 from Department of Automation, School of Information Science and Technology, Tsinghua University, under the supervision of Prof. Xiangyang Ji. My research interests lie in Computer Vision and Deep Learning. During my Ph.D., I focused on 6D object pose estimation with RGB based methods. I am also interested in other vision and robotics related perception problems in both 2D and 3D worlds.

News

[10/2022] Our work GDRNPP won most of the awards on BOP Challenge 2022 @ ECCV 22 (Slides, Code).

[04/2022] I am co-organizing the 7th International Workshop on Recovering 6D Object Pose and BOP Challenge 2022 @ ECCV 22.

[02/2022] I joined JD.com as a member of DMT (Doctoral Management Trainee).

[12/2021] PhD defended.

[08/2020] Our work CDPNv2 won the Best Method on Single Dataset Award of BOP Challenge 2020.

[10/2019] Our work CDPN won the Best RGB-Only Method Award of BOP Challenge 2019.

Publications

For all publications please check my Google Scholar / Semantic Scholar / Research Gate.
(*: co-first authors, +: co-corresponding authors)

	GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimator Xingyu Liu, Ruida Zhang, Chenyangguang Zhang, Gu Wang+, Jiwen Tang, Zhigang Li, Xiangyang Ji+ In IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 2025. [Paper] [arXiv] [Code] [bibtex]
	UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Image Xingyu Liu, Gu Wang, Ruida Zhang, Chenyangguang Zhang, Federico Tombari, Xiangyang Ji In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2025. [Paper] [arXiv] [Code] [bibtex]
	Occlusion-Aware Self-Supervised Monocular 6D Object Pose Estimation Gu Wang, Fabian Manhardt, Xingyu Liu, Xiangyang Ji, Federico Tombari In IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 2024. (ESI Highly Cited) [Paper] [arXiv] [Code] [bibtex]
	FAFA: Frequency-Aware Flow-Aided Self-Supervision for Underwater Object Pose Estimation Jingyi Tang, Gu Wang*, Zeyu Chen, Shengquan Li, Xiu Li, Xiangyang Ji In European Conference on Computer Vision (ECCV), 2024*. [Paper] [arXiv] [Code] [bibtex]
	D-SCo: Dual-Stream Conditional Diffusion for Monocular Hand-Held Object Reconstruction Bowen Fu, Gu Wang, Chenyangguang Zhang, Yan Di, Ziqin Huang, Zhiying Leng, Fabian Manhardt, Xiangyang Ji, Federico Tombari In European Conference on Computer Vision (ECCV), 2024. [Paper] [arXiv] [bibtex]
	CATRE: Iterative Point Clouds Alignment for Category-level Object Pose Refinement Xingyu Liu, Gu Wang, Yi Li, Xiangyang Ji In European Conference on Computer Vision (ECCV), 2022. [Paper] [arXiv] [Code] [Video] [bibtex]
	GDR-Net: Geometry-Guided Direct Regression Network for Monocular 6D Object Pose Estimation Gu Wang, Fabian Manhardt, Federico Tombari, Xiangyang Ji In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2021. [Paper] [Code] [bibtex]
	Self6D: Self-Supervised Monocular 6D Object Pose Estimation Gu Wang, Fabian Manhardt, Jianzhun Shao, Xiangyang Ji, Nassir Navab, Federico Tombari In European Conference on Computer Vision (ECCV), 2020 (oral). [Paper] [Diff-Renderer Code] [Video] [bibtex]
	PFRL: Pose-Free Reinforcement Learning for 6D Pose Estimation Jianzhun Shao, Yuhang Jiang, Gu Wang, Zhigang Li, Xiangyang Ji In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020. [Paper] [Video] [bibtex]
	CDPN: Coordinates-Based Disentangled Pose Network for Real-Time RGB-Based 6-DoF Object Pose Estimation Zhigang Li, Gu Wang, Xiangyang Ji In IEEE International Conference on Computer Vision (ICCV), 2019 (oral). [Paper] [Code for BOP19/20] [Oral Video] [bibtex]
	DeepIM: Deep Iterative Matching for 6D Pose Estimation Yi Li, Gu Wang, Xiangyang Ji, Yu Xiang, Dieter Fox In European Conference on Computer Vision (ECCV), 2018 (oral). In International Journal of Computer Vision (IJCV), 2020. (ESI Highly Cited) [Paper] [Code] [Slides] [Project Page] [bibtex]

Service

Co-organizer of the 8th International Workshop on Recovering 6D Object Pose and BOP Challenge 2023 @ ICCV 23

Co-organizer of the 7th International Workshop on Recovering 6D Object Pose and BOP Challenge 2022 @ ECCV 22

Reviewer (Conference): CVPR, ICCV, ECCV, ICML, ICLR, NeurIPS, ICRA, AAAI, IJCAI, ACM MM, IROS, WACV, ACCV, AISTATS

Reviewer (Journal): TPAMI, T-RO, TIP, TNNLS, PR, TIM, RA-L, JAS, TCDS, Neurocomputing, CVIU, RAS, etc.

	GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimator Xingyu Liu, Ruida Zhang, Chenyangguang Zhang, Gu Wang+, Jiwen Tang, Zhigang Li, Xiangyang Ji+ In IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 2025. [Paper] [arXiv] [Code] [bibtex]
	UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Image Xingyu Liu, Gu Wang, Ruida Zhang, Chenyangguang Zhang, Federico Tombari, Xiangyang Ji In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2025. [Paper] [arXiv] [Code] [bibtex]
	Occlusion-Aware Self-Supervised Monocular 6D Object Pose Estimation Gu Wang, Fabian Manhardt, Xingyu Liu, Xiangyang Ji, Federico Tombari In IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 2024. (ESI Highly Cited) [Paper] [arXiv] [Code] [bibtex]
	FAFA: Frequency-Aware Flow-Aided Self-Supervision for Underwater Object Pose Estimation Jingyi Tang, Gu Wang*, Zeyu Chen, Shengquan Li, Xiu Li, Xiangyang Ji In European Conference on Computer Vision (ECCV), 2024*. [Paper] [arXiv] [Code] [bibtex]
	D-SCo: Dual-Stream Conditional Diffusion for Monocular Hand-Held Object Reconstruction Bowen Fu, Gu Wang, Chenyangguang Zhang, Yan Di, Ziqin Huang, Zhiying Leng, Fabian Manhardt, Xiangyang Ji, Federico Tombari In European Conference on Computer Vision (ECCV), 2024. [Paper] [arXiv] [bibtex]
	CATRE: Iterative Point Clouds Alignment for Category-level Object Pose Refinement Xingyu Liu, Gu Wang, Yi Li, Xiangyang Ji In European Conference on Computer Vision (ECCV), 2022. [Paper] [arXiv] [Code] [Video] [bibtex]
	GDR-Net: Geometry-Guided Direct Regression Network for Monocular 6D Object Pose Estimation Gu Wang, Fabian Manhardt, Federico Tombari, Xiangyang Ji In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2021. [Paper] [Code] [bibtex]
	Self6D: Self-Supervised Monocular 6D Object Pose Estimation Gu Wang, Fabian Manhardt, Jianzhun Shao, Xiangyang Ji, Nassir Navab, Federico Tombari In European Conference on Computer Vision (ECCV), 2020 (oral). [Paper] [Diff-Renderer Code] [Video] [bibtex]
	PFRL: Pose-Free Reinforcement Learning for 6D Pose Estimation Jianzhun Shao, Yuhang Jiang, Gu Wang, Zhigang Li, Xiangyang Ji In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020. [Paper] [Video] [bibtex]
	CDPN: Coordinates-Based Disentangled Pose Network for Real-Time RGB-Based 6-DoF Object Pose Estimation Zhigang Li, Gu Wang, Xiangyang Ji In IEEE International Conference on Computer Vision (ICCV), 2019 (oral). [Paper] [Code for BOP19/20] [Oral Video] [bibtex]
	DeepIM: Deep Iterative Matching for 6D Pose Estimation Yi Li, Gu Wang, Xiangyang Ji, Yu Xiang, Dieter Fox In European Conference on Computer Vision (ECCV), 2018 (oral). In International Journal of Computer Vision (IJCV), 2020. (ESI Highly Cited) [Paper] [Code] [Slides] [Project Page] [bibtex]