mlsanityData to 14 Oct 2026

POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Reference

arXiv 2305.15727 ↗First posted 25 May 2023cs.CVcited by 30

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Abstract (arXiv)

Despite the significant progress in six degrees-of-freedom (6DoF) object pose estimation, existing methods have limited applicability in real-world scenarios involving embodied agents and downstream 3D vision tasks. These limitations mainly come from the necessity of 3D models, closed-category detection, and a large number of densely annotated support views. To mitigate this issue, we propose a general paradigm for object pose estimation, called Promptable Object Pose Estimation (POPE). The proposed approach POPE enables zero-shot 6DoF object pose estimation for any target object in any scene, while only a single reference is adopted as the support view. To achieve this, POPE leverages the power of the pre-trained large-scale 2D foundation model, employs a framework with hierarchical feature representation and 3D geometry principles. Moreover, it estimates the relative camera pose between object prompts and the target object in new views, enabling both two-view and multi-view 6DoF pose estimation tasks. Comprehensive experimental results demonstrate that POPE exhibits unrivaled robust performance in zero-shot settings, by achieving a significant reduction in the averaged Median Pose Error by 52.38% and 50.47% on the LINEMOD and OnePose datasets, respectively. We also conduct more challenging testings in causally captured images (see Figure 1), which further demonstrates the robustness of POPE. Project page can be found with https://paulpanwang.github.io/POPE/.

Key facts. Cited by 30 papers in the map (data through 14 Oct 2026). Builds on 52 of its 68 references that are in the map. First posted on arXiv 25 May 2023.

Builds on

52 of 68 references.

References · 52

  1. 2018BERT: Pre-training of Deep Bidirectional Transformers for Language Understandingcited by 40,399
  2. 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,744
  3. 2020Language Models are Few-Shot Learnerscited by 32,419
  4. 2023Segment Anythingcited by 8,234
  5. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,974
  6. 2021Emerging Properties in Self-Supervised Vision Transformerscited by 6,968
  7. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,443
  8. 2021LoFTR: Detector-Free Local Feature Matching with Transformerscited by 984
  9. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  10. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  11. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  12. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 382
38 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. 2020Image Matching across Wide Baselines: From Paper to Practicecited by 225
  5. 2017Working hard to know your neighbor's margins: Local descriptor learning losscited by 212
  6. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  7. 2021Pixel-Perfect Structure-from-Motion with Featuremetric Refinementcited by 200
  8. 2022Practical Stereo Matching via Cascaded Recurrent Network with Adaptive Correlationcited by 197
  9. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  10. 2021COTR: Correspondence Transformer for Matching Across Imagescited by 183
  11. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 161
  12. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 157
  13. 2020Objectron: A Large Scale Dataset of Object-Centric Videos in the Wild with Pose Annotationscited by 155
  14. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 148
  15. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  16. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 121
  17. 2023OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Modelscited by 115
  18. 2022Is Attention All That NeRF Needs?cited by 113
  19. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  20. 2022RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wildcited by 102
  21. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  22. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  23. 2019LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimationcited by 89
  24. 2021SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimationcited by 88
  25. 2021Deep Learning for Instance Retrieval: A Surveycited by 70
  26. 2015Learning Descriptors for Object Recognition and 3D Pose Estimationcited by 60
  27. 2022Zero-Shot Category-Level Object Pose Estimationcited by 57
  28. 2022Parallel Inversion of Neural Radiance Fields for Robust Pose Estimationcited by 55
  29. 2022SparsePose: Sparse-View Camera Pose Regression and Refinementcited by 53
  30. 2022Few-View Object Reconstruction with Unknown Categories and Camera Posescited by 53
  31. 2019Multi-path Learning for Object Pose Estimation Across Domainscited by 52
  32. 2021Extreme Rotation Estimation using Dense Correlation Volumescited by 42
  33. 2019Pose from Shape: Deep Pose Estimation for Arbitrary 3D Objectscited by 39
  34. 2022The 8-Point Algorithm as an Inductive Bias for Relative Pose Prediction by ViTscited by 38
  35. 2021ZePHyR: Zero-shot Pose Hypothesis Ratingcited by 26
  36. 2021iCaps: Iterative Category-level Object Pose and Shape Estimationcited by 23
  37. 2020I Like to Move It: 6D Pose Estimation as an Action Decision Processcited by 22
  38. 20203D Object Detection and Pose Estimation of Unseen Objects in Color Images with Local Surface Embeddingscited by 22

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Citing papers per year: 2023: 5; 2024: 7; 2025: 10; 2026: 8.

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  1. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 117
  2. 2024Exploring the Frontier of Vision-Language Models: A Survey of Current Methodologies and Future Directionscited by 68
  3. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 53
  4. 2023ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformerscited by 45
  5. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  6. 2026Orient Anything V2: Unifying Orientation and Rotation Understandingcited by 23
  7. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  8. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 18
  9. 2025One2Any: One-Reference 6D Pose Estimation for Any Objectcited by 18
  10. 2023iComMa: Inverting 3D Gaussian Splatting for Camera Pose Estimation via Comparing and Matchingcited by 13
  11. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integrationcited by 11
  12. 2024Zero123-6D: Zero-shot Novel View Synthesis for RGB Category-level 6D Pose Estimationcited by 10
18 more
  1. 2025TACO: Taming Diffusion for in-the-wild Video Amodal Completioncited by 10
  2. 2024ManiPose: A Comprehensive Benchmark for Pose-aware Object Manipulation in Roboticscited by 7
  3. 2024Extreme Rotation Estimation in the Wildcited by 6
  4. 2025Emergent Extreme-View Geometry in 3D Foundation Modelscited by 6
  5. 2024SRPose: Two-view Relative Pose Estimation with Sparse Keypointscited by 5
  6. 2025ConceptPose: Training-Free Zero-Shot Object Pose Estimation using Concept Vectorscited by 5
  7. 2025Active 6D Pose Estimation for Textureless Objects using Multi-View RGB Framescited by 3
  8. 2024Enhancing Single Image to 3D Generation using Gaussian Splatting and Hybrid Diffusion Priorscited by 2
  9. 2025Monocular Visual 8D Pose Estimation for Articulated Bicycles and Cyclistscited by 1
  10. 2025CoordAR: One-Reference 6D Pose Estimation of Novel Objects via Autoregressive Coordinate Map Generationcited by 1
  11. 2026COG: Confidence-aware Optimal Geometric Correspondence for Unsupervised Single-reference Novel Object Pose Estimationcited by 1
  12. 2026Scene Grounding In the Wildcited by 1
  13. 2025iGaussian: Real-Time Camera Pose Estimation via Feed-Forward 3D Gaussian Splatting Inversioncited by 0
  14. 2026Yolo-Key-6D: Single Stage Monocular 6D Pose Estimation with Keypoint Enhancementscited by 0
  15. 2026ComPose: When to Trust Hands for Object Pose Trackingcited by 0
  16. 2026Learning Cross-View Semantic Priors for Single-Reference Unseen Object Pose Estimationcited by 0
  17. 2026Prior-free relative 6D pose estimation of multiple object instancescited by 0
  18. 2026Toward Comprehensive 3D Grounding: Orientation Grounding through Vision-Language Modelscited by 0