mlsanityData to 7 Oct 2026

High-resolution open-vocabulary object 6D pose estimation

arXiv 2406.16384 ↗First posted 24 Jun 2024cs.CVcited by 10

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Abstract (arXiv)

The generalisation to unseen objects in the 6D pose estimation task is very challenging. While Vision-Language Models (VLMs) enable using natural language descriptions to support 6D pose estimation of unseen objects, these solutions underperform compared to model-based methods. In this work we present Horyon, an open-vocabulary VLM-based architecture that addresses relative pose estimation between two scenes of an unseen object, described by a textual prompt only. We use the textual prompt to identify the unseen object in the scenes and then obtain high-resolution multi-scale features. These features are used to extract cross-scene matches for registration. We evaluate our model on a benchmark with a large variety of unseen objects across four datasets, namely REAL275, Toyota-Light, Linemod, and YCB-Video. Our method achieves state-of-the-art performance on all datasets, outperforming by 12.6 in Average Recall the previous best-performing approach.

Key facts. Cited by 10 papers in the map (data through 7 Oct 2026). Builds on 51 of its 73 references that are in the map. First posted on arXiv 24 Jun 2024.

Builds on

51 of 73 references.

References · 51

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38 more
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  24. 2022RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wildcited by 102
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50 most cited of 51 All 51 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 5; 2026: 5.

10 papers.

  1. 2025One2Any: One-Reference 6D Pose Estimation for Any Objectcited by 17
  2. 2025GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimationcited by 16
  3. 2025Accurate and efficient zero-shot 6D pose estimation with frozen foundation modelscited by 13
  4. 2025ConceptPose: Training-Free Zero-Shot Object Pose Estimation using Concept Vectorscited by 5
  5. 2025Parameter-Efficient CLIP Adaptation for 3D Understanding via Unified Tokenizationcited by 1
  6. 2026Learning Fine-Grained Correspondence with Cross-Perspective Perception for Open-Vocabulary 6D Object Pose Estimationcited by 0
  7. 2026Object Pose Transformer: Unifying Unseen Object Pose Estimationcited by 0
  8. 2026Learning Cross-View Semantic Priors for Single-Reference Unseen Object Pose Estimationcited by 0
  9. 2026UniPose9D: Universal Category-Agnostic Object Pose Estimationcited by 0
  10. 2026Prior-free relative 6D pose estimation of multiple object instancescited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2024From Words to Poses: Enhancing Novel Object Pose Estimation with Vision Language Models
  2. 2025VLM6D: VLM based 6Dof Pose Estimation based on RGB-D Images
  3. 2024CapeLLM: Support-Free Category-Agnostic Pose Estimation with Multimodal Large Language Models
  4. 2026OMNI-PoseX: A Fast Vision Model for 6D Object Pose Estimation in Embodied Tasks ↗
  5. 2026Generative 6D Pose Estimation via Conditional Flow Matching
  6. 2026Text-Guided 6D Object Pose Rearrangement via Closed-Loop VLM Agents
  7. 2025ActivePose: Active 6D Object Pose Estimation and Tracking for Robotic Manipulation
  8. 2025PoseLLM: Enhancing Language-Guided Human Pose Estimation with MLP Alignment