mlsanityData to 7 Oct 2026

OSOP: A Multi-Stage One Shot Object Pose Estimation Framework

arXiv 2203.15533 ↗First posted 29 Mar 2022cs.CVcited by 81

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Abstract (arXiv)

We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent a 3D model with a number of 2D templates rendered from different viewpoints. This enables CNN-based direct dense feature extraction and matching. The object is first localized in 2D, then its approximate viewpoint is estimated, followed by dense 2D-3D correspondence prediction. The final pose is computed with PnP. We evaluate the method on LineMOD, Occlusion, Homebrewed, YCB-V and TLESS datasets and report very competitive performance in comparison to the state-of-the-art methods trained on synthetic data, even though our method is not trained on the object models used for testing.

Key facts. Cited by 81 papers in the map (data through 7 Oct 2026). Builds on 46 of its 62 references that are in the map. First posted on arXiv 29 Mar 2022.

Builds on

46 of 62 references.

References · 46

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34 more
  1. 2019FCOS: Fully Convolutional One-Stage Object Detectioncited by 1,573
  2. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  3. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  4. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  5. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  6. 2018Few-shot Object Detection via Feature Reweightingcited by 265
  7. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  8. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  9. 2016One-Shot Video Object Segmentationcited by 233
  10. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  11. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  12. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  13. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  14. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  15. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  16. 2017Convolutional neural network architecture for geometric matchingcited by 138
  17. 2018MAGSAC: marginalizing sample consensuscited by 122
  18. 2019HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objectscited by 110
  19. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  20. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  21. 2018RepMet: Representative-based metric learning for classification and one-shot object detectioncited by 85
  22. 2019One-Shot Object Detection with Co-Attention and Co-Excitationcited by 67
  23. 2017End-to-end weakly-supervised semantic alignmentcited by 60
  24. 2018Deep Model-Based 6D Pose Refinement in RGBcited by 59
  25. 2022NeRF-Pose: A First-Reconstruct-Then-Regress Approach for Weakly-supervised 6D Object Pose Estimationcited by 57
  26. 2019Multi-path Learning for Object Pose Estimation Across Domainscited by 52
  27. 2018One-Shot Instance Segmentationcited by 43
  28. 2019Pose from Shape: Deep Pose Estimation for Arbitrary 3D Objectscited by 39
  29. 2020OS2D: One-Stage One-Shot Object Detection by Matching Anchor Featurescited by 35
  30. 2020I Like to Move It: 6D Pose Estimation as an Action Decision Processcited by 22
  31. 20203D Object Detection and Pose Estimation of Unseen Objects in Color Images with Local Surface Embeddingscited by 22
  32. 20193D Object Instance Recognition and Pose Estimation Using Triplet Loss with Dynamic Margincited by 14
  33. 2019CorNet: Generic 3D Corners for 6D Pose Estimation of New Objects without Retrainingcited by 14
  34. 2018When Regression Meets Manifold Learning for Object Recognition and Pose Estimationcited by 8

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 6; 2023: 25; 2024: 24; 2025: 18; 2026: 8.

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  1. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 411
  2. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 198
  3. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  4. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 115
  5. 2023OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Modelscited by 114
  6. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 113
  7. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  8. 2024BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objectscited by 60
  9. 2022Parallel Inversion of Neural Radiance Fields for Robust Pose Estimationcited by 55
  10. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 47
  11. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 47
  12. 2023ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformerscited by 45
38 more
  1. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  2. 2023NOPE: Novel Object Pose Estimation from a Single Imagecited by 38
  3. 2025Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrationscited by 33
  4. 2024GenFlow: Generalizable Recurrent Flow for 6D Pose Refinement of Novel Objectscited by 32
  5. 2023Open-vocabulary object 6D pose estimationcited by 29
  6. 2024MatchU: Matching Unseen Objects for 6D Pose Estimation from RGB-D Imagescited by 28
  7. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  8. 2023ZeroPose: CAD-Prompted Zero-shot Object 6D Pose Estimation in Cluttered Scenescited by 20
  9. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 16
  10. 2022PIZZA: A Powerful Image-only Zero-Shot Zero-CAD Approach to 6 DoF Trackingcited by 15
  11. 2022CRT-6D: Fast 6D Object Pose Estimation with Cascaded Refinement Transformerscited by 15
  12. 2025SceneMaker: Open-set 3D Scene Generation with Decoupled De-occlusion and Pose Estimation Modelcited by 15
  13. 2024GS-Pose: Generalizable Segmentation-based 6D Object Pose Estimation with 3D Gaussian Splattingcited by 14
  14. 2025Co-op: Correspondence-based Novel Object Pose Estimationcited by 13
  15. 2025Accurate and efficient zero-shot 6D pose estimation with frozen foundation modelscited by 13
  16. 2023PoseMatcher: One-shot 6D Object Pose Estimation by Deep Feature Matchingcited by 12
  17. 2023iComMa: Inverting 3D Gaussian Splatting for Camera Pose Estimation via Comparing and Matchingcited by 12
  18. 2024UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Imagecited by 12
  19. 20233D-Aware Hypothesis & Verification for Generalizable Relative Object Pose Estimationcited by 11
  20. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integrationcited by 11
  21. 2023MFOS: Model-Free & One-Shot Object Pose Estimationcited by 10
  22. 2024OV9D: Open-Vocabulary Category-Level 9D Object Pose and Size Estimationcited by 10
  23. 2024Zero123-6D: Zero-shot Novel View Synthesis for RGB Category-level 6D Pose Estimationcited by 10
  24. 2024High-resolution open-vocabulary object 6D pose estimationcited by 10
  25. 20246DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splattingcited by 10
  26. 2022LocPoseNet: Robust Location Prior for Unseen Object Pose Estimationcited by 9
  27. 2023Self-supervised Vision Transformers for 3D Pose Estimation of Novel Objectscited by 9
  28. 2025UA-Pose: Uncertainty-Aware 6D Object Pose Estimation and Online Object Completion with Partial Referencescited by 9
  29. 2023You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Examplecited by 8
  30. 2024GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinementcited by 8
  31. 2023KeyMatchNet: Zero-Shot Pose Estimation in 3D Point Clouds by Generalized Keypoint Matchingcited by 7
  32. 2023SA6D: Self-Adaptive Few-Shot 6D Pose Estimator for Novel and Occluded Objectscited by 6
  33. 2024RayEmb: Arbitrary Landmark Detection in X-Ray Images Using Ray Embedding Subspacecited by 6
  34. 2023Perceiving Unseen 3D Objects by Poking the Objectscited by 5
  35. 2025PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Trackingcited by 5
  36. 2025DynamicPose: Real-time and Robust 6D Object Pose Tracking for Fast-Moving Cameras and Objectscited by 5
  37. 2023Pseudo-keypoint RKHS Learning for Self-supervised 6DoF Pose Estimationcited by 4
  38. 2024Extreme Two-View Geometry From Object Poses with Diffusion Modelscited by 4

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