RAFusion: Integrating Residual Attention for Global Context-Aware 6D Pose Estimation.

6D object pose estimation from RGB-D data is a core problem in robotic perception. Representative approaches such as DenseFusion fuse per-pixel RGB and depth features, yet they still face challenges under heavy occlusion and in cluttered backgrounds. This paper revisits the DenseFusion architecture from the perspective of feature enhancement and global context modeling and proposes an enhanced network named RAFusion, which strengthens feature representation through two complementary modules. First, Squeeze-and-Excitation (SE) blocks are integrated into the RGB feature extractor to adaptively reweight channel responses, enhancing salient appearance cues while suppressing noise. Second, a RealFormer-based block is introduced before global pooling, applying residual self-attention to the fused RGB-D features for more effective global context modeling. Experiments on the LINEMOD and Occlusion LINEMOD datasets show that RAFusion improves the DenseFusion baseline and achieves competitive performance compared with representative 6D pose estimation methods. Ablation studies and computational analysis further support the effectiveness of the proposed modules.