mlsanityData to 14 Oct 2026

GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondence

arXiv 2311.14155 ↗First posted 23 Nov 2023cs.CVcited by 114

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Abstract (arXiv)

We present GigaPose, a fast, robust, and accurate method for CAD-based novel object pose estimation in RGB images. GigaPose first leverages discriminative "templates", rendered images of the CAD models, to recover the out-of-plane rotation and then uses patch correspondences to estimate the four remaining parameters. Our approach samples templates in only a two-degrees-of-freedom space instead of the usual three and matches the input image to the templates using fast nearest-neighbor search in feature space, results in a speedup factor of 35x compared to the state of the art. Moreover, GigaPose is significantly more robust to segmentation errors. Our extensive evaluation on the seven core datasets of the BOP challenge demonstrates that it achieves state-of-the-art accuracy and can be seamlessly integrated with existing refinement methods. Additionally, we show the potential of GigaPose with 3D models predicted by recent work on 3D reconstruction from a single image, relaxing the need for CAD models and making 6D pose object estimation much more convenient. Our source code and trained models are publicly available at https://github.com/nv-nguyen/gigaPose

Key facts. Cited by 114 papers in the map (data through 14 Oct 2026). Builds on 49 of its 65 references that are in the map. First posted on arXiv 23 Nov 2023.

Builds on

49 of 65 references.

References · 49

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2023Segment Anythingcited by 8,234
  3. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,974
  4. 2018Representation Learning with Contrastive Predictive Codingcited by 7,777
  5. 2017Mask R-CNNcited by 7,277
  6. 2022DreamFusion: Text-to-3D using 2D Diffusioncited by 3,025
  7. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,897
  8. 2023Zero-1-to-3: Zero-shot One Image to 3D Objectcited by 1,489
  9. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  10. 2023Wonder3D: Single Image to 3D using Cross-Domain Diffusioncited by 689
  11. 2022Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Itemscited by 612
  12. 2022Score Jacobian Chaining: Lifting Pretrained 2D Diffusion Models for 3D Generationcited by 597
37 more
  1. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  2. 2023Magic123: One Image to High-Quality 3D Object Generation Using Both 2D and 3D Diffusion Priorscited by 397
  3. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  4. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  5. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  6. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  7. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  8. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  9. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  10. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  11. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  12. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 201
  13. 2020BOP Challenge 2020 on 6D Object Localizationcited by 193
  14. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  15. 2019kPAM: KeyPoint Affordances for Category-Level Robotic Manipulationcited by 153
  16. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  17. 2019HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objectscited by 110
  18. 2018Segmentation-driven 6D Object Pose Estimationcited by 104
  19. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  20. 2019Single-Stage 6D Object Pose Estimationcited by 88
  21. 2023CNOS: A Strong Baseline for CAD-based Novel Object Segmentationcited by 87
  22. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  23. 2015Recovering 6D Object Pose and Predicting Next-Best-View in the Crowdcited by 79
  24. 2019BlenderProccited by 77
  25. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 72
  26. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 70
  27. 2023BOP Challenge 2022 on Detection, Segmentation and Pose Estimation of Specific Rigid Objectscited by 70
  28. 2022Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusionscited by 54
  29. 2023ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformerscited by 45
  30. 2022OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose Estimationcited by 43
  31. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
  32. 2023NOPE: Novel Object Pose Estimation from a Single Imagecited by 38
  33. 2021ZePHyR: Zero-shot Pose Hypothesis Ratingcited by 26
  34. 20203D Object Detection and Pose Estimation of Unseen Objects in Color Images with Local Surface Embeddingscited by 22
  35. 2022Fusing Local Similarities for Retrieval-based 3D Orientation Estimation of Unseen Objectscited by 17
  36. 2022PIZZA: A Powerful Image-only Zero-Shot Zero-CAD Approach to 6 DoF Trackingcited by 15
  37. 2023Diff-DOPE: Differentiable Deep Object Pose Estimationcited by 11

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 3; 2024: 21; 2025: 50; 2026: 40.

114 papers.

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  1. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 117
  2. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  3. 2023FreeZe: Training-free zero-shot 6D pose estimation with geometric and vision foundation modelscited by 57
  4. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 49
  5. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  6. 2025Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrationscited by 38
  7. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 35
  8. 2024InterTrack: Tracking Human Object Interaction without Object Templatescited by 23
  9. 2025BOP Challenge 2024 on Model-Based and Model-Free 6D Object Pose Estimationcited by 19
  10. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 18
  11. 2025One2Any: One-Reference 6D Pose Estimation for Any Objectcited by 18
  12. 2024GS-Pose: Generalizable Segmentation-based 6D Object Pose Estimation with 3D Gaussian Splattingcited by 15
38 more
  1. 2025Co-op: Correspondence-based Novel Object Pose Estimationcited by 14
  2. 2025Accurate and efficient zero-shot 6D pose estimation with frozen foundation modelscited by 13
  3. 2024Object Pose Estimation via the Aggregation of Diffusion Featurescited by 12
  4. 2024UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Imagecited by 12
  5. 2024Diorama: Unleashing Zero-shot Single-view 3D Indoor Scene Modelingcited by 11
  6. 20246DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splattingcited by 11
  7. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integrationcited by 11
  8. 2024High-resolution open-vocabulary object 6D pose estimationcited by 10
  9. 20256D Object Pose Tracking in Internet Videos for Robotic Manipulationcited by 10
  10. 2025GoTrack: Generic 6DoF Object Pose Refinement and Trackingcited by 10
  11. 2025DexMan: Learning Bimanual Dexterous Manipulation from Human and Generated Videoscited by 10
  12. 2025UA-Pose: Uncertainty-Aware 6D Object Pose Estimation and Online Object Completion with Partial Referencescited by 9
  13. 2024Manual-PA: Learning 3D Part Assembly from Instruction Diagramscited by 7
  14. 2026Reconstruction by Generation: 3D Multi-Object Scene Reconstruction from Sparse Observationscited by 7
  15. 2024RayEmb: Arbitrary Landmark Detection in X-Ray Images Using Ray Embedding Subspacecited by 6
  16. 2025PicoPose: Progressive Pixel-to-Pixel Correspondence Learning for Novel Object Pose Estimationcited by 6
  17. 2025RGBTrack: Fast, Robust Depth-Free 6D Pose Estimation and Trackingcited by 6
  18. 2025MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Modelcited by 5
  19. 2025Splat and Replace: 3D Reconstruction with Repetitive Elementscited by 5
  20. 2025ConceptPose: Training-Free Zero-Shot Object Pose Estimation using Concept Vectorscited by 5
  21. 2024Extreme Two-View Geometry From Object Poses with Diffusion Modelscited by 4
  22. 2024Diffusion Features for Zero-Shot 6DoF Object Pose Estimationcited by 4
  23. 2025HIPPo: Harnessing Image-to-3D Priors for Model-free Zero-shot 6D Pose Estimationcited by 4
  24. 2025Distilling 3D distinctive local descriptors for 6D pose estimationcited by 4
  25. 2025RayPose: Ray Bundling Diffusion for Template Views in Unseen 6D Object Pose Estimationcited by 4
  26. 2026ArtHOI: Taming Foundation Models for Monocular 4D Reconstruction of Hand-Articulated-Object Interactionscited by 4
  27. 2026Text-Guided 6D Object Pose Rearrangement via Closed-Loop VLM Agentscited by 4
  28. 2024Comparative Evaluation of 3D Reconstruction Methods for Object Pose Estimationcited by 3
  29. 2024BOP-Distrib: Revisiting 6D Pose Estimation Benchmarks for Better Evaluation under Visual Ambiguitiescited by 3
  30. 2025PhysPose: Refining 6D Object Poses with Physical Constraintscited by 3
  31. 2025SenseShift6D: Multimodal RGB-D Benchmarking for Robust 6D Pose Estimation across Environment and Sensor Variationscited by 3
  32. 2026ProxyPose: 6-DoF Pose Tracking via Video-to-Video Translationcited by 3
  33. 2024End-to-End Probabilistic Geometry-Guided Regression for 6DoF Object Pose Estimationcited by 2
  34. 2025ZeroBP: Learning Position-Aware Correspondence for Zero-shot 6D Pose Estimation in Bin-Pickingcited by 2
  35. 2025Reasoning and Learning a Perceptual Metric for Self-Training of Reflective Objects in Bin-Picking with a Low-cost Cameracited by 2
  36. 2025NOCTIS: Novel Object Cyclic Threshold based Instance Segmentationcited by 2
  37. 2025UnPose: Uncertainty-Guided Diffusion Priors for Zero-Shot Pose Estimationcited by 2
  38. 2025Beyond 'Templates': Category-Agnostic Object Pose, Size, and Shape Estimation from a Single Viewcited by 2

50 most cited of 114 All 114 (JSON)