mlsanityData to 7 Oct 2026

MFOS: Model-Free & One-Shot Object Pose Estimation

arXiv 2310.01897 ↗First posted 3 Oct 2023cs.CVcited by 10

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Abstract (arXiv)

Existing learning-based methods for object pose estimation in RGB images are mostly model-specific or category based. They lack the capability to generalize to new object categories at test time, hence severely hindering their practicability and scalability. Notably, recent attempts have been made to solve this issue, but they still require accurate 3D data of the object surface at both train and test time. In this paper, we introduce a novel approach that can estimate in a single forward pass the pose of objects never seen during training, given minimum input. In contrast to existing state-of-the-art approaches, which rely on task-specific modules, our proposed model is entirely based on a transformer architecture, which can benefit from recently proposed 3D-geometry general pretraining. We conduct extensive experiments and report state-of-the-art one-shot performance on the challenging LINEMOD benchmark. Finally, extensive ablations allow us to determine good practices with this relatively new type of architecture in the field.

Key facts. Cited by 10 papers in the map (data through 7 Oct 2026). Builds on 44 of its 70 references that are in the map. First posted on arXiv 3 Oct 2023.

Builds on

44 of 70 references.

References · 44

  1. 2017Attention Is All You Needcited by 59,932
  2. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 29,915
  3. 2021Masked Autoencoders Are Scalable Vision Learnerscited by 7,339
  4. 2021RoFormer: Enhanced Transformer with Rotary Position Embeddingcited by 4,581
  5. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,437
  6. 2017Multi-Task Learning Using Uncertainty to Weigh Losses for Scene Geometry and Semanticscited by 1,345
  7. 2021LoFTR: Detector-Free Local Feature Matching with Transformerscited by 974
  8. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  9. 2018From Coarse to Fine: Robust Hierarchical Localization at Large Scalecited by 556
  10. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  11. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  12. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 381
32 more
  1. 2021ABO: Dataset and Benchmarks for Real-World 3D Object Understandingcited by 360
  2. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  3. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  4. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  5. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  6. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 158
  7. 2022CroCo: Self-Supervised Pre-training for 3D Vision Tasks by Cross-View Completioncited by 158
  8. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 155
  9. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  10. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  11. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 123
  12. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  13. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  14. 2023OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Modelscited by 114
  15. 2019Self-supervised 6D Object Pose Estimation for Robot Manipulationcited by 100
  16. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  17. 2019LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimationcited by 88
  18. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  19. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  20. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  21. 2023EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for Monocular Object Pose Estimationcited by 79
  22. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  23. 2021Deep Regression on Manifolds: A 3D Rotation Case Studycited by 67
  24. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  25. 2021Category-Level Metric Scale Object Shape and Pose Estimationcited by 40
  26. 2022Shape, Pose, and Appearance from a Single Image via Bootstrapped Radiance Field Inversioncited by 30
  27. 2023DeepMatcher: A Deep Transformer-based Network for Robust and Accurate Local Feature Matchingcited by 18
  28. 2021Neural View Synthesis and Matching for Semi-Supervised Few-Shot Learning of 3D Posecited by 15
  29. 2022Unseen Object 6D Pose Estimation: A Benchmark and Baselinescited by 12
  30. 2018Vision-based Pose Estimation for Augmented Reality : A Comparison Studycited by 5
  31. 2016Hashmod: A Hashing Method for Scalable 3D Object Detectioncited by 2
  32. 2019Object Pose Estimation in Robotics Revisitedcited by 1

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 3; 2025: 6; 2026: 1.

10 papers.

  1. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  2. 2024GS-Pose: Generalizable Segmentation-based 6D Object Pose Estimation with 3D Gaussian Splattingcited by 14
  3. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integrationcited by 11
  4. 2025Learning Shape-Independent Transformation via Spherical Representations for Category-Level Object Pose Estimationcited by 8
  5. 2025RayPose: Ray Bundling Diffusion for Template Views in Unseen 6D Object Pose Estimationcited by 4
  6. 2025SingRef6D: Monocular Novel Object Pose Estimation with a Single RGB Referencecited by 1
  7. 2024DVMNet++: Rethinking Relative Pose Estimation for Unseen Objectscited by 0
  8. 2025AxisPose: Model-Free Matching-Free Single-Shot 6D Object Pose Estimation via Axis Generationcited by 0
  9. 2025Eff-GRot: Efficient and Generalizable Rotation Estimation with Transformerscited by 0
  10. 2026Emergence of a Shared Canonical Object Frame from In-the-Wild Videoscited by 0