# NOPE: Novel Object Pose Estimation from a Single Image

arXiv: https://arxiv.org/abs/2303.13612 · HTML: https://mlsanity.com/paper/2303.13612/

## Key facts

- Cited by 38 papers in the map (data through 14 Oct 2026).
- Builds on 60 of its 71 references that are in the map.
- First posted on arXiv 23 Mar 2023.

## Builds on (most cited first, 30 of 60)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [Hierarchical Text-Conditional Image Generation with CLIP Latents](https://mlsanity.com/paper/2204.06125/) (2022)
- [Photorealistic Text-to-Image Diffusion Models with Deep Language Understanding](https://mlsanity.com/paper/2205.11487/) (2022)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [DreamBooth: Fine Tuning Text-to-Image Diffusion Models for Subject-Driven Generation](https://mlsanity.com/paper/2208.12242/) (2022)
- [DreamFusion: Text-to-3D using 2D Diffusion](https://mlsanity.com/paper/2209.14988/) (2022)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Plenoxels: Radiance Fields without Neural Networks](https://mlsanity.com/paper/2112.05131/) (2021)
- [pixelNeRF: Neural Radiance Fields from One or Few Images](https://mlsanity.com/paper/2012.02190/) (2020)
- [Zero-1-to-3: Zero-shot One Image to 3D Object](https://mlsanity.com/paper/2303.11328/) (2023)
- [Magic3D: High-Resolution Text-to-3D Content Creation](https://mlsanity.com/paper/2211.10440/) (2022)
- [Random Erasing Data Augmentation](https://mlsanity.com/paper/1708.04896/) (2017)
- [On the Continuity of Rotation Representations in Neural Networks](https://mlsanity.com/paper/1812.07035/) (2018)
- [Zero-Shot Text-Guided Object Generation with Dream Fields](https://mlsanity.com/paper/2112.01455/) (2021)
- [Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation](https://mlsanity.com/paper/1901.02970/) (2019)
- [PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation](https://mlsanity.com/paper/1812.11788/) (2018)
- [RealFusion: 360deg Reconstruction of Any Object from a Single Image](https://mlsanity.com/paper/2302.10663/) (2023)
- [Novel View Synthesis with Diffusion Models](https://mlsanity.com/paper/2210.04628/) (2022)
- [CosyPose: Consistent multi-view multi-object 6D pose estimation](https://mlsanity.com/paper/2008.08465/) (2020)
- [DeepIM: Deep Iterative Matching for 6D Pose Estimation](https://mlsanity.com/paper/1804.00175/) (2018)
- [CLIP-Mesh: Generating textured meshes from text using pretrained image-text models](https://mlsanity.com/paper/2203.13333/) (2022)
- [SSD-6D: Making RGB-based 3D detection and 6D pose estimation great again](https://mlsanity.com/paper/1711.10006/) (2017)
- [Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects](https://mlsanity.com/paper/1809.10790/) (2018)
- [BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depth](https://mlsanity.com/paper/1703.10896/) (2017)
- [SparseFusion: Distilling View-conditioned Diffusion for 3D Reconstruction](https://mlsanity.com/paper/2212.00792/) (2022)
- [T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objects](https://mlsanity.com/paper/1701.05498/) (2017)
- [Real-Time Seamless Single Shot 6D Object Pose Prediction](https://mlsanity.com/paper/1711.08848/) (2017)

## Built on by (most cited first, 30 of 38)

- [SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimation](https://mlsanity.com/paper/2311.15707/) (2023)
- [GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondence](https://mlsanity.com/paper/2311.14155/) (2023)
- [Deep Learning-Based Object Pose Estimation: A Comprehensive Survey](https://mlsanity.com/paper/2405.07801/) (2024)
- [Open-vocabulary object 6D pose estimation](https://mlsanity.com/paper/2312.00690/) (2023)
- [Challenges for Monocular 6D Object Pose Estimation in Robotics](https://mlsanity.com/paper/2307.12172/) (2023)
- [One-Shot Imitation Learning: A Pose Estimation Perspective](https://mlsanity.com/paper/2310.12077/) (2023)
- [GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimation](https://mlsanity.com/paper/2502.04293/) (2025)
- [One2Any: One-Reference 6D Pose Estimation for Any Object](https://mlsanity.com/paper/2505.04109/) (2025)
- [GS-Pose: Category-Level Object Pose Estimation via Geometric and Semantic Correspondence](https://mlsanity.com/paper/2311.13777/) (2023)
- [Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integration](https://mlsanity.com/paper/2503.05578/) (2025)
- [Zero123-6D: Zero-shot Novel View Synthesis for RGB Category-level 6D Pose Estimation](https://mlsanity.com/paper/2403.14279/) (2024)
- [High-resolution open-vocabulary object 6D pose estimation](https://mlsanity.com/paper/2406.16384/) (2024)
- [Personalized Representation from Personalized Generation](https://mlsanity.com/paper/2412.16156/) (2024)
- [Uncertainty-Aware Knowledge Distillation for Compact and Efficient 6DoF Pose Estimation](https://mlsanity.com/paper/2503.13053/) (2025)
- [MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Model](https://mlsanity.com/paper/2504.10433/) (2025)
- [ConceptPose: Training-Free Zero-Shot Object Pose Estimation using Concept Vectors](https://mlsanity.com/paper/2512.09056/) (2025)
- [Extreme Two-View Geometry From Object Poses with Diffusion Models](https://mlsanity.com/paper/2402.02800/) (2024)
- [Structure-Aware Correspondence Learning for Relative Pose Estimation](https://mlsanity.com/paper/2503.18671/) (2025)
- [BoxDreamer: Dreaming Box Corners for Generalizable Object Pose Estimation](https://mlsanity.com/paper/2504.07955/) (2025)
- [ProxyPose: 6-DoF Pose Tracking via Video-to-Video Translation](https://mlsanity.com/paper/2607.06555/) (2026)
- [UnPose: Uncertainty-Guided Diffusion Priors for Zero-Shot Pose Estimation](https://mlsanity.com/paper/2508.15972/) (2025)
- [Generalizable Single-view Object Pose Estimation by Two-side Generating and Matching](https://mlsanity.com/paper/2411.15860/) (2024)
- [SCFlow2: Plug-and-Play Object Pose Refiner with Shape-Constraint Scene Flow](https://mlsanity.com/paper/2504.09160/) (2025)
- [Zero-Shot Personalized Camera Motion Control for Image-to-Video Synthesis](https://mlsanity.com/paper/2504.09472/) (2025)
- [SingRef6D: Monocular Novel Object Pose Estimation with a Single RGB Reference](https://mlsanity.com/paper/2509.21927/) (2025)
- [CoordAR: One-Reference 6D Pose Estimation of Novel Objects via Autoregressive Coordinate Map Generation](https://mlsanity.com/paper/2511.12919/) (2025)
- [COG: Confidence-aware Optimal Geometric Correspondence for Unsupervised Single-reference Novel Object Pose Estimation](https://mlsanity.com/paper/2603.00493/) (2026)
- [COBRA -- COnfidence score Based on shape Regression Analysis for method-independent quality assessment of object pose estimation from single images](https://mlsanity.com/paper/2404.16471/) (2024)
- [Towards Human-Level 3D Relative Pose Estimation: Generalizable, Training-Free, with Single Reference](https://mlsanity.com/paper/2406.18453/) (2024)
- [AxisPose: Model-Free Matching-Free Single-Shot 6D Object Pose Estimation via Axis Generation](https://mlsanity.com/paper/2503.06660/) (2025)

## 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