mlsanityData to 14 Oct 2026

MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Model

arXiv 2504.10433 ↗First posted 14 Apr 2025cs.CV cs.ROcited by 5

On the map: Diffusion models → 3D, point cloud and scene generation

Abstract (arXiv)

Object pose estimation is a core means for robots to understand and interact with their environment. For this task, monocular category-level methods are attractive as they require only a single RGB camera. However, current methods rely on shape priors or CAD models of the intra-class known objects. We propose a diffusion-based monocular category-level 9D object pose generation method, MonoDiff9D. Our motivation is to leverage the probabilistic nature of diffusion models to alleviate the need for shape priors, CAD models, or depth sensors for intra-class unknown object pose estimation. We first estimate coarse depth via DINOv2 from the monocular image in a zero-shot manner and convert it into a point cloud. We then fuse the global features of the point cloud with the input image and use the fused features along with the encoded time step to condition MonoDiff9D. Finally, we design a transformer-based denoiser to recover the object pose from Gaussian noise. Extensive experiments on two popular benchmark datasets show that MonoDiff9D achieves state-of-the-art monocular category-level 9D object pose estimation accuracy without the need for shape priors or CAD models at any stage. Our code will be made public at https://github.com/CNJianLiu/MonoDiff9D.

Key facts. Cited by 5 papers in the map (data through 14 Oct 2026). Placed in 3D, point cloud and scene generation, one of 14 directions in Diffusion models. Builds on 53 of its 68 references that are in the map. First posted on arXiv 14 Apr 2025.

Builds on

53 of 68 references.

Closest ancestors · 2

Same direction, newest first

  1. 2025Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation4 Feb
  2. 2023GenPose: Generative Category-level Object Pose Estimation via Diffusion Models18 Jun

Other references · 51

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 30,186
  3. 2020Denoising Diffusion Probabilistic Modelscited by 21,076
  4. 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,863
  5. 2020Denoising Diffusion Implicit Modelscited by 9,781
  6. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,974
  7. 2017Mask R-CNNcited by 7,277
  8. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  9. 2021Improved Denoising Diffusion Probabilistic Modelscited by 3,761
  10. 2024Depth Anything: Unleashing the Power of Large-Scale Unlabeled Datacited by 1,360
  11. 2023ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depthcited by 657
  12. 2015Cyclical Learning Rates for Training Neural Networkscited by 629
38 more
  1. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  2. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  3. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  4. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 161
  5. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  6. 2018ROI-10D: Monocular Lifting of 2D Detection to 6D Pose and Metric Shapecited by 123
  7. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  8. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 121
  9. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 114
  10. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  11. 2020Category Level Object Pose Estimation via Neural Analysis-by-Synthesiscited by 100
  12. 2022DiffPose: Toward More Reliable 3D Pose Estimationcited by 100
  13. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  14. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  15. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 84
  16. 2022Category-Level 6D Object Pose and Size Estimation using Self-Supervised Deep Prior Deformation Networkscited by 74
  17. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 70
  18. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  19. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  20. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  21. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 53
  22. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 49
  23. 2022PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objectscited by 45
  24. 2024Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimationcited by 43
  25. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
  26. 2021Category-Level Metric Scale Object Shape and Pose Estimationcited by 41
  27. 2022SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimationcited by 41
  28. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 41
  29. 2023VI-Net: Boosting Category-level 6D Object Pose Estimation via Learning Decoupled Rotations on the Spherical Representationscited by 41
  30. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  31. 2023NOPE: Novel Object Pose Estimation from a Single Imagecited by 38
  32. 2023TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimationcited by 32
  33. 2022Object Level Depth Reconstruction for Category Level 6D Object Pose Estimation From Monocular RGB Imagecited by 30
  34. 2022CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wildcited by 28
  35. 2021UDA-COPE: Unsupervised Domain Adaptation for Category-level Object Pose Estimationcited by 25
  36. 2024DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimationcited by 25
  37. 2023FSD: Fast Self-Supervised Single RGB-D to Categorical 3D Objectscited by 19
  38. 2023RGB-based Category-level Object Pose Estimation via Decoupled Metric Scale Recoverycited by 14

50 most cited of 51 All 51 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 1; 2026: 4.

5 papers.

  1. 2025You Only Pose Once: A Minimalist's Detection Transformer for Monocular RGB Category-level 9D Multi-Object Pose Estimationcited by 3
  2. 2026OCH3R: Object-Centric Holistic 3D Reconstructioncited by 1
  3. 2026Flow6D: Discrete-to-Continuous Flow Matching for Efficient and Accurate Category-Level 6D Pose Estimationcited by 1
  4. 2026GenCOPE: Syn2Real Generalized Category-Level Object Pose Estimation for Robotic Pickingcited by 0
  5. 2026SchemaPose: RGB-Based Category-Level Pose Estimation with Parametric Category Schemacited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2024Category Level 6D Object Pose Estimation from a Single RGB Image using Diffusion
  2. 2023Challenges for Monocular 6D Object Pose Estimation in Robotics
  3. 2026UniPose9D: Universal Category-Agnostic Object Pose Estimation
  4. 2025MonoSE(3)-Diffusion: A Monocular SE(3) Diffusion Framework for Robust Camera-to-Robot Pose Estimation
  5. 2022DiffuPose: Monocular 3D Human Pose Estimation via Denoising Diffusion Probabilistic Model
  6. 20236D-Diff: A Keypoint Diffusion Framework for 6D Object Pose Estimation
  7. 2026Demo-Pose: Depth-Monocular Modality Fusion For Object Pose Estimation
  8. 2025Joint Learning of Pose Regression and Denoising Diffusion with Score Scaling Sampling for Category-level 6D Pose Estimation