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Recently, the widespread proliferation of RGB\u2010D sensors has precipitated a marked increase in interest towards 6D pose estimation leveraging RGB\u2010D data. A deep bidirectional fusion network is developed, DBF\u2010Net, achieving efficient yet accurate 6D object pose estimation. Specifically, a sparse linear Transformer (SLT) with linear computation complexity is introduced to effectively leverage cross\u2010modal semantic resemblance during the feature extraction stage, such that it fully models semantic associations between various modalities and efficiently aggregates the globally enhanced features of each modality. Once acquiring two feature representations from two modalities, a feature balancer (FB) based on SLT is proposed to adaptively reconcile the importance of these feature representations. Leveraging the global receptive field of SLT, FB effectively eliminates the ambiguity induced by visual similarity in appearance representation or depth missing of reflective surfaces in geometry representations, thereby enhancing the generalization ability and robustness of the network. Experimental results demonstrate that DBF\u2010Net surpasses current state\u2010of\u2010the\u2010art works by nontrivial margins across multiple benchmarks. The code is available at <jats:ext-link xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" xlink:href=\"https:\/\/github.com\/Mrfanxuan\/dbf_net\">https:\/\/github.com\/Mrfanxuan\/dbf_net<\/jats:ext-link>.<\/jats:p>","DOI":"10.1002\/aisy.202401001","type":"journal-article","created":{"date-parts":[[2025,7,7]],"date-time":"2025-07-07T03:19:51Z","timestamp":1751858391000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["DBF\u2010Net: A Deep Bidirectional Fusion Network for 6D Object Pose Estimation with Sparse Linear Transformer"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-1061-3209","authenticated-orcid":false,"given":"Xuan","family":"Fan","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and Systems Harbin Institute of Technology  Harbin 150001 China"},{"name":"Yangtze River Delta HIT Robot Technology Research Institute  Wuhu 24100 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"An","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems Harbin Institute of Technology  Harbin 150001 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongbo","family":"Gao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems Harbin Institute of Technology  Harbin 150001 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"Xie","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems Harbin Institute of Technology  Harbin 150001 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lijun","family":"Zhao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems Harbin Institute of Technology  Harbin 150001 China"},{"name":"Yangtze River Delta HIT Robot Technology Research Institute  Wuhu 24100 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1383-7745","authenticated-orcid":false,"given":"Ruifeng","family":"Li","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems Harbin Institute of Technology  Harbin 150001 China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2025,7,7]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911401765"},{"key":"e_1_2_11_3_1","unstructured":"J.Tremblay T.To B.Sundaralingam Y.Xiang D.Fox S.Birchfield(Preprint) arXiv:1809.10790 Submitted 2018."},{"key":"e_1_2_11_4_1","unstructured":"Y.He W.Sun H.Huang J.Liu H.Fan J.Sun inProc. of the IEEE\/CVF Conf. on Computer Vision and Pattern Recognition2020 pp.11632\u201311641."},{"key":"e_1_2_11_5_1","doi-asserted-by":"crossref","unstructured":"A.Geiger P.Lenz R.Urtasun in2012 IEEE Conf. on Computer Vision and Pattern Recognition IEEE2012 pp.3354\u20133361.","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"e_1_2_11_6_1","unstructured":"X.Chen H.Ma J.Wan B.Li T.Xia inProc. of the IEEE Conf. on Computer Vision and Pattern Recognition2017 pp.1907\u20131915."},{"key":"e_1_2_11_7_1","doi-asserted-by":"crossref","unstructured":"D.Xu D.Anguelov A.Jain inProc. of the IEEE Conf. on Computer Vision and Pattern Recognition2018 pp.244\u2013253.","DOI":"10.1109\/CVPR.2018.00033"},{"key":"e_1_2_11_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2015.2513408"},{"key":"e_1_2_11_9_1","doi-asserted-by":"crossref","unstructured":"D. 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