mlsanityData to 13 Oct 2026

OnePose: One-Shot Object Pose Estimation without CAD Models

arXiv 2205.12257 ↗First posted 24 May 2022cs.CVcited by 156

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Abstract (arXiv)

We propose a new method named OnePose for object pose estimation. Unlike existing instance-level or category-level methods, OnePose does not rely on CAD models and can handle objects in arbitrary categories without instance- or category-specific network training. OnePose draws the idea from visual localization and only requires a simple RGB video scan of the object to build a sparse SfM model of the object. Then, this model is registered to new query images with a generic feature matching network. To mitigate the slow runtime of existing visual localization methods, we propose a new graph attention network that directly matches 2D interest points in the query image with the 3D points in the SfM model, resulting in efficient and robust pose estimation. Combined with a feature-based pose tracker, OnePose is able to stably detect and track 6D poses of everyday household objects in real-time. We also collected a large-scale dataset that consists of 450 sequences of 150 objects.

Key facts. Cited by 156 papers in the map (data through 13 Oct 2026). Builds on 27 of its 48 references that are in the map. First posted on arXiv 24 May 2022.

Builds on

27 of 48 references.

References · 27

  1. 2017Graph Attention Networkscited by 8,888
  2. 2020Transformers are RNNs: Fast Autoregressive Transformers with Linear Attentioncited by 1,994
  3. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,439
  4. 2017SuperPoint: Self-Supervised Interest Point Detection and Descriptioncited by 1,316
  5. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 984
  6. 2021LoFTR: Detector-Free Local Feature Matching with Transformerscited by 979
  7. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 770
  8. 2017Focal Loss for Dense Object Detectioncited by 750
  9. 2018From Coarse to Fine: Robust Hierarchical Localization at Large Scalecited by 557
  10. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 492
  11. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  12. 2020DISK: Learning local features with policy gradientcited by 310
15 more
  1. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  2. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  3. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  4. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  5. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 159
  6. 2020Objectron: A Large Scale Dataset of Object-Centric Videos in the Wild with Pose Annotationscited by 155
  7. 2020Fast Transformers with Clustered Attentioncited by 123
  8. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  9. 20176-DoF Object Pose from Semantic Keypointscited by 89
  10. 2019LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimationcited by 88
  11. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  12. 2018Making Deep Heatmaps Robust to Partial Occlusions for 3D Object Pose Estimationcited by 74
  13. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  14. 2021Category-Level Metric Scale Object Shape and Pose Estimationcited by 40
  15. 2017Toward Geometric Deep SLAMcited by 38

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Cited by year (2026 to 13 Oct)

Citing papers per year: 2022: 10; 2023: 38; 2024: 35; 2025: 41; 2026: 32.

156 papers.

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  1. 2023LightGlue: Local Feature Matching at Light Speedcited by 588
  2. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 415
  3. 2023MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrationscited by 313
  4. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 200
  5. 2023BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objectscited by 146
  6. 2024HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videoscited by 124
  7. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 117
  8. 2023OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Modelscited by 114
  9. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  10. 2022InterCap: Joint Markerless 3D Tracking of Humans and Objects in Interactioncited by 91
  11. 20243DTrajMaster: Mastering 3D Trajectory for Multi-Entity Motion in Video Generationcited by 71
  12. 2023Visibility Aware Human-Object Interaction Tracking from Single RGB Cameracited by 58
38 more
  1. 2023FreeZe: Training-free zero-shot 6D pose estimation with geometric and vision foundation modelscited by 56
  2. 2022Parallel Inversion of Neural Radiance Fields for Robust Pose Estimationcited by 55
  3. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 48
  4. 2024Introducing HOT3D: An Egocentric Dataset for 3D Hand and Object Trackingcited by 48
  5. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 47
  6. 2025SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulationcited by 46
  7. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  8. 2023NOPE: Novel Object Pose Estimation from a Single Imagecited by 38
  9. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 34
  10. 2025Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrationscited by 34
  11. 2023Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagationcited by 33
  12. 2024GenFlow: Generalizable Recurrent Flow for 6D Pose Refinement of Novel Objectscited by 32
  13. 2023POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Referencecited by 30
  14. 2023NeRF-Loc: Visual Localization with Conditional Neural Radiance Fieldcited by 29
  15. 2023Open-vocabulary object 6D pose estimationcited by 29
  16. 2024MatchU: Matching Unseen Objects for 6D Pose Estimation from RGB-D Imagescited by 28
  17. 2026Orient Anything V2: Unifying Orientation and Rotation Understandingcited by 23
  18. 2024InterTrack: Tracking Human Object Interaction without Object Templatescited by 22
  19. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  20. 2023ZeroPose: CAD-Prompted Zero-shot Object 6D Pose Estimation in Cluttered Scenescited by 20
  21. 2023Learning to Estimate 6DoF Pose from Limited Data: A Few-Shot, Generalizable Approach using RGB Imagescited by 18
  22. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 17
  23. 2025One2Any: One-Reference 6D Pose Estimation for Any Objectcited by 17
  24. 2022PIZZA: A Powerful Image-only Zero-Shot Zero-CAD Approach to 6 DoF Trackingcited by 15
  25. 2025Dense-SfM: Structure from Motion with Dense Consistent Matchingcited by 15
  26. 2024GS-Pose: Generalizable Segmentation-based 6D Object Pose Estimation with 3D Gaussian Splattingcited by 14
  27. 2023Long-term Visual Localization with Mobile Sensorscited by 13
  28. 2025Co-op: Correspondence-based Novel Object Pose Estimationcited by 13
  29. 2025Orientation Matters: Making 3D Generative Models Orientation-Alignedcited by 13
  30. 2025Accurate and efficient zero-shot 6D pose estimation with frozen foundation modelscited by 13
  31. 2023PoseMatcher: One-shot 6D Object Pose Estimation by Deep Feature Matchingcited by 12
  32. 2023The Treachery of Images: Bayesian Scene Keypoints for Deep Policy Learning in Robotic Manipulationcited by 12
  33. 2023GS-Pose: Category-Level Object Pose Estimation via Geometric and Semantic Correspondencecited by 12
  34. 2023iComMa: Inverting 3D Gaussian Splatting for Camera Pose Estimation via Comparing and Matchingcited by 12
  35. 2024UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Imagecited by 12
  36. 20233D-Aware Hypothesis & Verification for Generalizable Relative Object Pose Estimationcited by 11
  37. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integrationcited by 11
  38. 2025Generating 6DoF Object Manipulation Trajectories from Action Description in Egocentric Visioncited by 11

50 most cited of 156 All 156 (JSON)