mlsanityData to 7 Oct 2026

NOPE: Novel Object Pose Estimation from a Single Image

arXiv 2303.13612 ↗First posted 23 Mar 2023cs.CVcited by 38

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Abstract (arXiv)

The practicality of 3D object pose estimation remains limited for many applications due to the need for prior knowledge of a 3D model and a training period for new objects. To address this limitation, we propose an approach that takes a single image of a new object as input and predicts the relative pose of this object in new images without prior knowledge of the object's 3D model and without requiring training time for new objects and categories. We achieve this by training a model to directly predict discriminative embeddings for viewpoints surrounding the object. This prediction is done using a simple U-Net architecture with attention and conditioned on the desired pose, which yields extremely fast inference. We compare our approach to state-of-the-art methods and show it outperforms them both in terms of accuracy and robustness. Our source code is publicly available at https://github.com/nv-nguyen/nope

Key facts. Cited by 38 papers in the map (data through 7 Oct 2026). Builds on 60 of its 71 references that are in the map. First posted on arXiv 23 Mar 2023.

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60 of 71 references.

References · 60

  1. 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,456
  2. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
  3. 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,694
  4. 2020Denoising Diffusion Implicit Modelscited by 9,655
  5. 2022Hierarchical Text-Conditional Image Generation with CLIP Latentscited by 6,539
  6. 2022Photorealistic Text-to-Image Diffusion Models with Deep Language Understandingcited by 6,322
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  10. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,880
  11. 2021Plenoxels: Radiance Fields without Neural Networkscited by 1,607
  12. 2020pixelNeRF: Neural Radiance Fields from One or Few Imagescited by 1,574
38 more
  1. 2023Zero-1-to-3: Zero-shot One Image to 3D Objectcited by 1,483
  2. 2022Magic3D: High-Resolution Text-to-3D Content Creationcited by 1,285
  3. 2017Random Erasing Data Augmentationcited by 1,235
  4. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,186
  5. 2021Zero-Shot Text-Guided Object Generation with Dream Fieldscited by 513
  6. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  7. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  8. 2023RealFusion: 360deg Reconstruction of Any Object from a Single Imagecited by 305
  9. 2022Novel View Synthesis with Diffusion Modelscited by 299
  10. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  11. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  12. 2022CLIP-Mesh: Generating textured meshes from text using pretrained image-text modelscited by 281
  13. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  14. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 237
  15. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  16. 2022SparseFusion: Distilling View-conditioned Diffusion for 3D Reconstructioncited by 216
  17. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  18. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  19. 2016DeMoN: Depth and Motion Network for Learning Monocular Stereocited by 200
  20. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 198
  21. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  22. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  23. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 155
  24. 2022NeuralLift-360: Lifting An In-the-wild 2D Photo to A 3D Object with 360deg Viewscited by 148
  25. 2022VoxGRAF: Fast 3D-Aware Image Synthesis with Sparse Voxel Gridscited by 133
  26. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  27. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  28. 2023OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Modelscited by 114
  29. 2022VectorFusion: Text-to-SVG by Abstracting Pixel-Based Diffusion Modelscited by 112
  30. 2018Segmentation-driven 6D Object Pose Estimationcited by 104
  31. 2022RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wildcited by 102
  32. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  33. 2018Making Deep Heatmaps Robust to Partial Occlusions for 3D Object Pose Estimationcited by 74
  34. 2018Explaining the Ambiguity of Object Detection and 6D Pose From Visual Datacited by 68
  35. 2015Learning Descriptors for Object Recognition and 3D Pose Estimationcited by 60
  36. 2022CLIPasso: Semantically-Aware Object Sketchingcited by 57
  37. 2022Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusionscited by 54
  38. 2022Few-View Object Reconstruction with Unknown Categories and Camera Posescited by 53

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 6; 2024: 8; 2025: 16; 2026: 8.

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  1. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 115
  2. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 113
  3. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  4. 2023Open-vocabulary object 6D pose estimationcited by 29
  5. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  6. 2023One-Shot Imitation Learning: A Pose Estimation Perspectivecited by 21
  7. 2025One2Any: One-Reference 6D Pose Estimation for Any Objectcited by 17
  8. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 16
  9. 2023GS-Pose: Category-Level Object Pose Estimation via Geometric and Semantic Correspondencecited by 12
  10. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integrationcited by 11
  11. 2024Zero123-6D: Zero-shot Novel View Synthesis for RGB Category-level 6D Pose Estimationcited by 10
  12. 2024High-resolution open-vocabulary object 6D pose estimationcited by 10
26 more
  1. 2024Personalized Representation from Personalized Generationcited by 9
  2. 2025Uncertainty-Aware Knowledge Distillation for Compact and Efficient 6DoF Pose Estimationcited by 5
  3. 2025ConceptPose: Training-Free Zero-Shot Object Pose Estimation using Concept Vectorscited by 5
  4. 2024Extreme Two-View Geometry From Object Poses with Diffusion Modelscited by 4
  5. 2025MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Modelcited by 4
  6. 2025Structure-Aware Correspondence Learning for Relative Pose Estimationcited by 3
  7. 2025BoxDreamer: Dreaming Box Corners for Generalizable Object Pose Estimationcited by 3
  8. 2025UnPose: Uncertainty-Guided Diffusion Priors for Zero-Shot Pose Estimationcited by 2
  9. 2026ProxyPose: 6-DoF Pose Tracking via Video-to-Video Translationcited by 2
  10. 2024Generalizable Single-view Object Pose Estimation by Two-side Generating and Matchingcited by 1
  11. 2025SCFlow2: Plug-and-Play Object Pose Refiner with Shape-Constraint Scene Flowcited by 1
  12. 2025SingRef6D: Monocular Novel Object Pose Estimation with a Single RGB Referencecited by 1
  13. 2025CoordAR: One-Reference 6D Pose Estimation of Novel Objects via Autoregressive Coordinate Map Generationcited by 1
  14. 2026COG: Confidence-aware Optimal Geometric Correspondence for Unsupervised Single-reference Novel Object Pose Estimationcited by 1
  15. 2024COBRA -- COnfidence score Based on shape Regression Analysis for method-independent quality assessment of object pose estimation from single imagescited by 0
  16. 2024Towards Human-Level 3D Relative Pose Estimation: Generalizable, Training-Free, with Single Referencecited by 0
  17. 2025AxisPose: Model-Free Matching-Free Single-Shot 6D Object Pose Estimation via Axis Generationcited by 0
  18. 2025Zero-Shot Personalized Camera Motion Control for Image-to-Video Synthesiscited by 0
  19. 2025Color-Pair Guided Robust Zero-Shot 6D Pose Estimation and Tracking of Cluttered Objects on Edge Devicescited by 0
  20. 2025PoseGAM: Robust Unseen Object Pose Estimation via Geometry-Aware Multi-View Reasoningcited by 0
  21. 2026FuzzingRL: Reinforcement Fuzz-Testing for Revealing VLM Failurescited by 0
  22. 2026Semantic Prior Guided One-View 6D Pose Estimation for Novel Objectscited by 0
  23. 2026Learning Cross-View Semantic Priors for Single-Reference Unseen Object Pose Estimationcited by 0
  24. 2026Pose Anything Anywhere:Model-free Object Poses from Arbitrary Referencescited by 0
  25. 2026UniPose9D: Universal Category-Agnostic Object Pose Estimationcited by 0
  26. 2026Prior-free relative 6D pose estimation of multiple object instancescited by 0