Generative Data Augmentation for ArUco-Free RGB-Based 6-DoF Object Pose Estimation

In recent years, data-driven approaches have become increasingly important in industrial computer vision applications, particularly for 6-Degrees-of-Freedom (6-DoF) object pose estimation. However, benchmark datasets may unintentionally introduce biases that affect the reliability of learned models. In this work, we investigate the shortcut bias induced by fiducial ArUco markers in the widely used Linemod dataset. Although such markers are typically absent in real industrial environments, they introduce unintended visual cues that neural networks tend to exploit. As a result, model selection based on state-of-the-art benchmarks can be biased, since the reported performance often reflects reliance on these shortcuts rather than on robust feature extraction. Using saliency map analysis, we show that often a large portion of the model’s attention is concentrated on these markers, revealing the presence of a shortcut that artificially boosts pose estimation performance. To mitigate this issue, we propose a data augmentation pipeline based on generative AI techniques that removes the markers and replaces the background with more realistic synthesized scenes. Experimental results indicate a noticeable drop in performance when models trained on the original Linemod dataset are evaluated in ArUco-free environments, confirming the presence of background-induced biases. Training with the proposed generative-swapped dataset leads to improved robustness and better generalization to unseen scenarios, although it does not fully eliminate the problem. Overall, the results highlight the impact of background-related biases in pose estimation benchmarks and suggest that the proposed augmentation strategy represents a practical and scalable step toward developing more reliable 6-DoF pose estimation systems for industrial applications, while leaving room for further improvements.