mlsanityData to 14 Oct 2026

Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Images

arXiv 2204.10776 ↗First posted 22 Apr 2022cs.CVcited by 121

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Abstract (arXiv)

In this paper, we present a generalizable model-free 6-DoF object pose estimator called Gen6D. Existing generalizable pose estimators either need high-quality object models or require additional depth maps or object masks in test time, which significantly limits their application scope. In contrast, our pose estimator only requires some posed images of the unseen object and is able to accurately predict the poses of the object in arbitrary environments. Gen6D consists of an object detector, a viewpoint selector and a pose refiner, all of which do not require the 3D object model and can generalize to unseen objects. Experiments show that Gen6D achieves state-of-the-art results on two model-free datasets: the MOPED dataset and a new GenMOP dataset collected by us. In addition, on the LINEMOD dataset, Gen6D achieves competitive results compared with instance-specific pose estimators. Project page: https://liuyuan-pal.github.io/Gen6D/.

Key facts. Cited by 121 papers in the map (data through 14 Oct 2026). Builds on 60 of its 76 references that are in the map. First posted on arXiv 22 Apr 2022.

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60 of 76 references.

References · 60

  1. 2017Attention Is All You Needcited by 60,361
  2. 2014Microsoft COCO: Common Objects in Contextcited by 17,608
  3. 2014Very Deep Convolutional Networks for Large-Scale Image Recognitioncited by 15,364
  4. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,897
  5. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,443
  6. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  7. 2021IBRNet: Learning Multi-View Image-Based Renderingcited by 703
  8. 2021Common Objects in 3D: Large-Scale Learning and Evaluation of Real-life 3D Category Reconstructioncited by 652
  9. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  10. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  11. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 382
  12. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
38 more
  1. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  2. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  3. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  4. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  5. 2021Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulationcited by 209
  6. 2020BOP Challenge 2020 on 6D Object Localizationcited by 193
  7. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  8. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  9. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 161
  10. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 148
  11. 2020Few-Shot Object Detection and Viewpoint Estimation for Objects in the Wildcited by 142
  12. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 124
  13. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  14. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 116
  15. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  16. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  17. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  18. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  19. 2019LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimationcited by 89
  20. 2019Single-Stage 6D Object Pose Estimationcited by 88
  21. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  22. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  23. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  24. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  25. 2020Self6D: Self-Supervised Monocular 6D Object Pose Estimationcited by 79
  26. 2019KeyPose: Multi-View 3D Labeling and Keypoint Estimation for Transparent Objectscited by 75
  27. 2015Learning Descriptors for Object Recognition and 3D Pose Estimationcited by 60
  28. 2022Zero-Shot Category-Level Object Pose Estimationcited by 57
  29. 2022Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusionscited by 54
  30. 2019Multi-path Learning for Object Pose Estimation Across Domainscited by 52
  31. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  32. 2021StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimationcited by 40
  33. 2019Pose from Shape: Deep Pose Estimation for Arbitrary 3D Objectscited by 39
  34. 2020OS2D: One-Stage One-Shot Object Detection by Matching Anchor Featurescited by 35
  35. 2019On Object Symmetries and 6D Pose Estimation from Imagescited by 33
  36. 2021ZePHyR: Zero-shot Pose Hypothesis Ratingcited by 26
  37. 2021iCaps: Iterative Category-level Object Pose and Shape Estimationcited by 23
  38. 2020I Like to Move It: 6D Pose Estimation as an Action Decision Processcited by 22

50 most cited of 60 All 60 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 6; 2023: 26; 2024: 29; 2025: 34; 2026: 26.

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  1. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 429
  2. 2023MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrationscited by 327
  3. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 201
  4. 2023BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objectscited by 148
  5. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 117
  6. 2023OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Modelscited by 115
  7. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  8. 20243DTrajMaster: Mastering 3D Trajectory for Multi-Entity Motion in Video Generationcited by 71
  9. 2023Visibility Aware Human-Object Interaction Tracking from Single RGB Cameracited by 58
  10. 2022Parallel Inversion of Neural Radiance Fields for Robust Pose Estimationcited by 55
  11. 2024SpatialPIN: Enhancing Spatial Reasoning Capabilities of Vision-Language Models through Prompting and Interacting 3D Priorscited by 54
  12. 2022Few-View Object Reconstruction with Unknown Categories and Camera Posescited by 53
38 more
  1. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 49
  2. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  3. 2023NOPE: Novel Object Pose Estimation from a Single Imagecited by 38
  4. 2025Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrationscited by 38
  5. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 35
  6. 2024GenFlow: Generalizable Recurrent Flow for 6D Pose Refinement of Novel Objectscited by 33
  7. 2023POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Referencecited by 30
  8. 2023Open-vocabulary object 6D pose estimationcited by 29
  9. 2024MatchU: Matching Unseen Objects for 6D Pose Estimation from RGB-D Imagescited by 28
  10. 2026Orient Anything V2: Unifying Orientation and Rotation Understandingcited by 23
  11. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  12. 2023Learning to Estimate 6DoF Pose from Limited Data: A Few-Shot, Generalizable Approach using RGB Imagescited by 18
  13. 2025One2Any: One-Reference 6D Pose Estimation for Any Objectcited by 18
  14. 2024Adapting Pre-Trained Vision Models for Novel Instance Detection and Segmentationcited by 17
  15. 2022PIZZA: A Powerful Image-only Zero-Shot Zero-CAD Approach to 6 DoF Trackingcited by 15
  16. 2024GS-Pose: Generalizable Segmentation-based 6D Object Pose Estimation with 3D Gaussian Splattingcited by 15
  17. 2024Adaptive Surface Normal Constraint for Geometric Estimation from Monocular Imagescited by 14
  18. 2025Co-op: Correspondence-based Novel Object Pose Estimationcited by 14
  19. 2025Accurate and efficient zero-shot 6D pose estimation with frozen foundation modelscited by 13
  20. 2023PoseMatcher: One-shot 6D Object Pose Estimation by Deep Feature Matchingcited by 12
  21. 2023The Treachery of Images: Bayesian Scene Keypoints for Deep Policy Learning in Robotic Manipulationcited by 12
  22. 2023GS-Pose: Category-Level Object Pose Estimation via Geometric and Semantic Correspondencecited by 12
  23. 2024UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Imagecited by 12
  24. 2023Diff-DOPE: Differentiable Deep Object Pose Estimationcited by 11
  25. 20233D-Aware Hypothesis & Verification for Generalizable Relative Object Pose Estimationcited by 11
  26. 20246DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splattingcited by 11
  27. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integrationcited by 11
  28. 2023MFOS: Model-Free & One-Shot Object Pose Estimationcited by 10
  29. 2024RHOBIN Challenge: Reconstruction of Human Object Interactioncited by 10
  30. 2024OV9D: Open-Vocabulary Category-Level 9D Object Pose and Size Estimationcited by 10
  31. 2024High-resolution open-vocabulary object 6D pose estimationcited by 10
  32. 2022LocPoseNet: Robust Location Prior for Unseen Object Pose Estimationcited by 9
  33. 2025UA-Pose: Uncertainty-Aware 6D Object Pose Estimation and Online Object Completion with Partial Referencescited by 9
  34. 2023VoxDet: Voxel Learning for Novel Instance Detectioncited by 8
  35. 2025Zero-Shot Human-Object Interaction Synthesis with Multimodal Priorscited by 7
  36. 2026Reconstruction by Generation: 3D Multi-Object Scene Reconstruction from Sparse Observationscited by 7
  37. 2023SA6D: Self-Adaptive Few-Shot 6D Pose Estimator for Novel and Occluded Objectscited by 6
  38. 2025PicoPose: Progressive Pixel-to-Pixel Correspondence Learning for Novel Object Pose Estimationcited by 6

50 most cited of 121 All 121 (JSON)