# HFT6D: Multimodal 6D object pose estimation based on hierarchical feature transformer

> Research article (Measurement, 2023) · cited 13× · AI/ML

**Wikidata**: [openalex:W4388639932](https://www.wikidata.org/wiki/openalex:W4388639932)  
**Source**: https://4ort.xyz/entity/hft6d-multimodal-6d-object-pose-estimation-based-on-hierarchical-feature-transformer